static_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_STATIC_REFERENCE_TRAJECTORY_HPP
00034 #define ACADO_TOOLKIT_STATIC_REFERENCE_TRAJECTORY_HPP
00035 
00036 
00037 #include <acado/variables_grid/variables_grid.hpp>
00038 #include <acado/curve/curve.hpp>
00039 #include <acado/reference_trajectory/reference_trajectory.hpp>
00040 
00041 
00042 BEGIN_NAMESPACE_ACADO
00043 
00044 
00055 class StaticReferenceTrajectory : public ReferenceTrajectory
00056 {
00057         //
00058         // PUBLIC MEMBER FUNCTIONS:
00059         //
00060         public:
00063                 StaticReferenceTrajectory( );
00064 
00065 //               StaticReferenceTrajectory(     const Curve& _yRef
00066 //                                                                      );
00067 
00072                 StaticReferenceTrajectory(      const VariablesGrid& _yRef
00073                                                                         );
00074 
00079                 StaticReferenceTrajectory(      const char* const _yRefFileName
00080                                                                         );
00081 
00086                 StaticReferenceTrajectory(      const StaticReferenceTrajectory& rhs
00087                                                                         );
00088 
00091                 virtual ~StaticReferenceTrajectory( );
00092 
00097                 StaticReferenceTrajectory& operator=(   const StaticReferenceTrajectory& rhs
00098                                                                                                 );
00099 
00104                 virtual ReferenceTrajectory* clone( ) const;
00105 
00106 
00118                 virtual returnValue init(       double startTime = 0.0,
00119                                                                         const DVector& _x  = emptyConstVector,
00120                                                                         const DVector& _xa = emptyConstVector,
00121                                                                         const DVector& _u  = emptyConstVector,
00122                                                                         const DVector& _p  = emptyConstVector,
00123                                                                         const DVector& _w  = emptyConstVector
00124                                                                         );
00125 
00126 
00139                 virtual returnValue step(       double _currentTime,
00140                                                                         const DVector& _y,
00141                                                                         const DVector& _x  = emptyConstVector,
00142                                                                         const DVector& _xa = emptyConstVector,
00143                                                                         const DVector& _u  = emptyConstVector,
00144                                                                         const DVector& _p  = emptyConstVector,
00145                                                                         const DVector& _w  = emptyConstVector
00146                                                                         );
00147 
00157                 virtual returnValue step(       const DVector& _x,
00158                                                                         const VariablesGrid& _u = emptyConstVariablesGrid,
00159                                                                         const VariablesGrid& _p = emptyConstVariablesGrid,
00160                                                                         const VariablesGrid& _w = emptyConstVariablesGrid
00161                                                                         );
00162 
00163 
00173                 virtual returnValue getReference(       double tStart,
00174                                                                                         double tEnd,
00175                                                                                         VariablesGrid& _yRef
00176                                                                                         ) const;
00177 
00178 
00183                 virtual uint getDim( ) const;
00184 
00185 
00186 
00187         //
00188         // PROTECTED MEMBER FUNCTIONS:
00189         //
00190         protected:
00191 
00192 
00193 
00194         //
00195         // DATA MEMBERS:
00196         //
00197         protected:
00198 
00199 //              Curve yRef;
00200                 VariablesGrid yRef;                             
00201 };
00202 
00203 
00204 CLOSE_NAMESPACE_ACADO
00205 
00206 
00207 #include <acado/reference_trajectory/static_reference_trajectory.ipp>
00208 
00209 
00210 BEGIN_NAMESPACE_ACADO
00211 
00212 static       StaticReferenceTrajectory emptyReferenceTrajectory;
00213 static const StaticReferenceTrajectory emptyConstReferenceTrajectory;
00214 
00215 CLOSE_NAMESPACE_ACADO
00216 
00217 
00218 // collect all remaining headers
00219 #include <acado/reference_trajectory/periodic_reference_trajectory.hpp>
00220 
00221 
00222 #endif  // ACADO_TOOLKIT_STATIC_REFERENCE_TRAJECTORY_HPP
00223 
00224 /*
00225  *      end of file
00226  */


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:43