reference_trajectory.hpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00033 #ifndef ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
00034 #define ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
00035 
00036 
00037 #include <acado/utils/acado_utils.hpp>
00038 #include <acado/simulation_environment/simulation_block.hpp>
00039 
00040 #include <acado/variables_grid/variables_grid.hpp>
00041 
00042 
00043 BEGIN_NAMESPACE_ACADO
00044 
00045 
00046 
00059 class ReferenceTrajectory //: public SimulationBlock
00060 {
00061         //
00062         // PUBLIC MEMBER FUNCTIONS:
00063         //
00064         public:
00067                 ReferenceTrajectory( );
00068 
00073                 ReferenceTrajectory(    const ReferenceTrajectory& rhs
00074                                                                 );
00075 
00078                 virtual ~ReferenceTrajectory( );
00079 
00084                 ReferenceTrajectory& operator=( const ReferenceTrajectory& rhs
00085                                                                                 );
00086 
00091                 virtual ReferenceTrajectory* clone( ) const = 0;
00092 
00093 
00105                 virtual returnValue init(       double startTime = 0.0,
00106                                                                         const DVector& _x  = emptyConstVector,
00107                                                                         const DVector& _xa = emptyConstVector,
00108                                                                         const DVector& _u  = emptyConstVector,
00109                                                                         const DVector& _p  = emptyConstVector,
00110                                                                         const DVector& _w  = emptyConstVector
00111                                                                         ) = 0;
00112 
00113 
00126                 virtual returnValue step(       double _currentTime,
00127                                                                         const DVector& _y,
00128                                                                         const DVector& _x  = emptyConstVector,
00129                                                                         const DVector& _xa = emptyConstVector,
00130                                                                         const DVector& _u  = emptyConstVector,
00131                                                                         const DVector& _p  = emptyConstVector,
00132                                                                         const DVector& _w  = emptyConstVector
00133                                                                         ) = 0;
00134 
00144                 virtual returnValue step(       const DVector& _x,
00145                                                                         const VariablesGrid& _u = emptyConstVariablesGrid,
00146                                                                         const VariablesGrid& _p = emptyConstVariablesGrid,
00147                                                                         const VariablesGrid& _w = emptyConstVariablesGrid
00148                                                                         ) = 0;
00149 
00159                 virtual returnValue getReference(       double tStart,
00160                                                                                         double tEnd,
00161                                                                                         VariablesGrid& _yRef
00162                                                                                         ) const = 0;
00163 
00164 
00169                 virtual uint getDim( ) const = 0;
00170 
00176                 inline BooleanType isDefined( ) const;
00177 
00178 
00179         //
00180         // PROTECTED MEMBER FUNCTIONS:
00181         //
00182         protected:
00183 
00184 
00185 
00186         //
00187         // DATA MEMBERS:
00188         //
00189         protected:
00190                 
00191 };
00192 
00193 
00194 CLOSE_NAMESPACE_ACADO
00195 
00196 
00197 #include <acado/reference_trajectory/reference_trajectory.ipp>
00198 
00199 
00200 // collecting remaining headers
00201 #include <acado/reference_trajectory/static_reference_trajectory.hpp>
00202 #include <acado/reference_trajectory/adaptive_reference_trajectory.hpp>
00203 
00204 
00205 #endif  // ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
00206 
00207 /*
00208  *      end of file
00209  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:38:48