simulated_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_SIMULATED_REFERENCE_TRAJECTORY_HPP
00034 #define ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP
00035 
00036 
00037 #include <acado/variables_grid/variables_grid.hpp>
00038 #include <acado/process/process.hpp>
00039 #include <acado/reference_trajectory/adaptive_reference_trajectory.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00056 class SimulatedReferenceTrajectory : public AdaptiveReferenceTrajectory
00057 {
00058         //
00059         // PUBLIC MEMBER FUNCTIONS:
00060         //
00061         public:
00062 
00065                 SimulatedReferenceTrajectory( );
00066 
00069                 SimulatedReferenceTrajectory(   const DynamicSystem& _dynamicSystem,
00070                                                                                 IntegratorType _integratorType = INT_UNKNOWN
00071                                                                                 );
00072 
00077                 SimulatedReferenceTrajectory(   const SimulatedReferenceTrajectory& rhs
00078                                                                                 );
00079 
00082                 virtual ~SimulatedReferenceTrajectory( );
00083 
00088                 SimulatedReferenceTrajectory& operator=(        const SimulatedReferenceTrajectory& rhs
00089                                                                                                 );
00090 
00095                 virtual ReferenceTrajectory* clone( ) const;
00096 
00097 
00109                 virtual returnValue init(       double startTime = 0.0,
00110                                                                         const DVector& _x  = emptyConstVector,
00111                                                                         const DVector& _xa = emptyConstVector,
00112                                                                         const DVector& _u  = emptyConstVector,
00113                                                                         const DVector& _p  = emptyConstVector,
00114                                                                         const DVector& _w  = emptyConstVector
00115                                                                         );
00116 
00117 
00130                 virtual returnValue step(       double _currentTime,
00131                                                                         const DVector& _y,
00132                                                                         const DVector& _x  = emptyConstVector,
00133                                                                         const DVector& _xa = emptyConstVector,
00134                                                                         const DVector& _u  = emptyConstVector,
00135                                                                         const DVector& _p  = emptyConstVector,
00136                                                                         const DVector& _w  = emptyConstVector
00137                                                                         );
00138 
00148                 virtual returnValue step(       const DVector& _x,
00149                                                                         const VariablesGrid& _u = emptyConstVariablesGrid,
00150                                                                         const VariablesGrid& _p = emptyConstVariablesGrid,
00151                                                                         const VariablesGrid& _w = emptyConstVariablesGrid
00152                                                                         );
00153 
00154 
00164                 virtual returnValue getReference(       double tStart,
00165                                                                                         double tEnd,
00166                                                                                         VariablesGrid& _yRef
00167                                                                                         ) const;
00168 
00169 
00174                 virtual uint getDim( ) const;
00175 
00176 
00177 
00178         //
00179         // PROTECTED MEMBER FUNCTIONS:
00180         //
00181         protected:
00182 
00183 
00184 
00185         //
00186         // DATA MEMBERS:
00187         //
00188         protected:
00189                 Process* process;
00190 };
00191 
00192 
00193 CLOSE_NAMESPACE_ACADO
00194 
00195 
00196 
00197 #endif  // ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP
00198 
00199 /*
00200  *      end of file
00201  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:06