Allows to define an adaptive reference trajectory that the ControlLaw aims to track. More...
#include <adaptive_reference_trajectory.hpp>
Allows to define an adaptive reference trajectory that the ControlLaw aims to track.
The class AdaptiveReferenceTrajectory allows to define an adaptive reference trajectory (determined online) that the ControlLaw aims to track while computing its control action.
Definition at line 55 of file adaptive_reference_trajectory.hpp.
BEGIN_NAMESPACE_ACADO AdaptiveReferenceTrajectory::AdaptiveReferenceTrajectory | ( | ) |
Default constructor.
Definition at line 46 of file adaptive_reference_trajectory.cpp.
AdaptiveReferenceTrajectory::AdaptiveReferenceTrajectory | ( | const AdaptiveReferenceTrajectory & | rhs | ) |
Copy constructor (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 51 of file adaptive_reference_trajectory.cpp.
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virtual |
Destructor.
Definition at line 56 of file adaptive_reference_trajectory.cpp.
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pure virtual |
Clone constructor (deep copy).
\return Pointer to deep copy of base class type
Implements ReferenceTrajectory.
Implemented in SimulatedReferenceTrajectory.
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virtual |
Returns dimension of reference trajectory.
Implements ReferenceTrajectory.
Reimplemented in SimulatedReferenceTrajectory.
Definition at line 79 of file adaptive_reference_trajectory.cpp.
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pure virtual |
Returns a piece of the reference trajectory starting and ending at given times.
@param[in] tStart Start time of reference piece. @param[in] tEnd End time of reference piece. @param[out] _yRef Desired piece of the reference trajectory.
Implements ReferenceTrajectory.
Implemented in SimulatedReferenceTrajectory.
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pure virtual |
Initializes the reference trajectory evaluation based on the given inputs.
@param[in] _startTime Start time. @param[in] _x Initial value for differential states. @param[in] _xa Initial value for algebraic states. @param[in] _u Initial value for controls. @param[in] _p Initial value for parameters. @param[in] _w Initial value for disturbances.
Implements ReferenceTrajectory.
Implemented in SimulatedReferenceTrajectory.
AdaptiveReferenceTrajectory & AdaptiveReferenceTrajectory::operator= | ( | const AdaptiveReferenceTrajectory & | rhs | ) |
Assignment operator (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 61 of file adaptive_reference_trajectory.cpp.
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pure virtual |
Updates the reference trajectory evaluation based on the given inputs.
@param[in] _currentTime Start time. @param[in] _y Current process output. @param[in] _x Estimated current value for differential states. @param[in] _xa Estimated current value for algebraic states. @param[in] _u Estimated current value for controls. @param[in] _p Estimated current value for parameters. @param[in] _w Estimated current value for disturbances.
Implements ReferenceTrajectory.
Implemented in SimulatedReferenceTrajectory.
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pure virtual |
Updates the reference trajectory evaluation based on the given inputs.
@param[in] _x Estimated current value for differential states. @param[in] _u Estimated current time-varying value for controls. @param[in] _p Estimated current time-varying value for parameters. @param[in] _w Estimated current time-varying value for disturbances.
Implements ReferenceTrajectory.
Implemented in SimulatedReferenceTrajectory.