static_reference_trajectory.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_STATIC_REFERENCE_TRAJECTORY_HPP
#define ACADO_TOOLKIT_STATIC_REFERENCE_TRAJECTORY_HPP


#include <acado/variables_grid/variables_grid.hpp>
#include <acado/curve/curve.hpp>
#include <acado/reference_trajectory/reference_trajectory.hpp>


BEGIN_NAMESPACE_ACADO


class StaticReferenceTrajectory : public ReferenceTrajectory
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:
                StaticReferenceTrajectory( );

//               StaticReferenceTrajectory(     const Curve& _yRef
//                                                                      );

                StaticReferenceTrajectory(      const VariablesGrid& _yRef
                                                                        );

                StaticReferenceTrajectory(      const char* const _yRefFileName
                                                                        );

                StaticReferenceTrajectory(      const StaticReferenceTrajectory& rhs
                                                                        );

                virtual ~StaticReferenceTrajectory( );

                StaticReferenceTrajectory& operator=(   const StaticReferenceTrajectory& rhs
                                                                                                );

                virtual ReferenceTrajectory* clone( ) const;


                virtual returnValue init(       double startTime = 0.0,
                                                                        const DVector& _x  = emptyConstVector,
                                                                        const DVector& _xa = emptyConstVector,
                                                                        const DVector& _u  = emptyConstVector,
                                                                        const DVector& _p  = emptyConstVector,
                                                                        const DVector& _w  = emptyConstVector
                                                                        );


                virtual returnValue step(       double _currentTime,
                                                                        const DVector& _y,
                                                                        const DVector& _x  = emptyConstVector,
                                                                        const DVector& _xa = emptyConstVector,
                                                                        const DVector& _u  = emptyConstVector,
                                                                        const DVector& _p  = emptyConstVector,
                                                                        const DVector& _w  = emptyConstVector
                                                                        );

                virtual returnValue step(       const DVector& _x,
                                                                        const VariablesGrid& _u = emptyConstVariablesGrid,
                                                                        const VariablesGrid& _p = emptyConstVariablesGrid,
                                                                        const VariablesGrid& _w = emptyConstVariablesGrid
                                                                        );


                virtual returnValue getReference(       double tStart,
                                                                                        double tEnd,
                                                                                        VariablesGrid& _yRef
                                                                                        ) const;


                virtual uint getDim( ) const;



        //
        // PROTECTED MEMBER FUNCTIONS:
        //
        protected:



        //
        // DATA MEMBERS:
        //
        protected:

//              Curve yRef;
                VariablesGrid yRef;                             
};


CLOSE_NAMESPACE_ACADO


#include <acado/reference_trajectory/static_reference_trajectory.ipp>


BEGIN_NAMESPACE_ACADO

static       StaticReferenceTrajectory emptyReferenceTrajectory;
static const StaticReferenceTrajectory emptyConstReferenceTrajectory;

CLOSE_NAMESPACE_ACADO


// collect all remaining headers
#include <acado/reference_trajectory/periodic_reference_trajectory.hpp>


#endif  // ACADO_TOOLKIT_STATIC_REFERENCE_TRAJECTORY_HPP

/*
 *      end of file
 */