Public Member Functions | Protected Attributes | List of all members

Implements a linear state feedback law to be used within a Controller. More...

#include <linear_state_feedback.hpp>

Inheritance diagram for LinearStateFeedback:
Inheritance graph
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Public Member Functions

virtual ControlLawclone () const
 
virtual uint getNP () const
 
virtual uint getNU () const
 
virtual uint getNW () const
 
virtual uint getNX () const
 
virtual uint getNXA () const
 
virtual uint getNY () const
 
virtual returnValue init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
 
virtual BooleanType isDynamic () const
 
virtual BooleanType isStatic () const
 
 LinearStateFeedback ()
 
 LinearStateFeedback (const DMatrix &_K, double _samplingTime=DEFAULT_SAMPLING_TIME)
 
 LinearStateFeedback (const LinearStateFeedback &rhs)
 
LinearStateFeedbackoperator= (const LinearStateFeedback &rhs)
 
virtual returnValue step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
 
virtual ~LinearStateFeedback ()
 
- Public Member Functions inherited from ControlLaw
 ControlLaw ()
 
 ControlLaw (double _samplingTime)
 
 ControlLaw (const ControlLaw &rhs)
 
virtual returnValue feedbackStep (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
 
virtual double getLengthControlHorizon () const
 
virtual double getLengthPredictionHorizon () const
 
returnValue getP (DVector &_p) const
 
returnValue getU (DVector &_u) const
 
virtual returnValue initializeAlgebraicStates (const VariablesGrid &_xa_init)
 
virtual returnValue initializeAlgebraicStates (const char *fileName)
 
virtual returnValue initializeControls (const VariablesGrid &_u_init)
 
virtual returnValue initializeControls (const char *fileName)
 
virtual BooleanType isInRealTimeMode () const
 
ControlLawoperator= (const ControlLaw &rhs)
 
virtual returnValue preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)
 
virtual returnValue shift (double timeShift=-1.0)
 
virtual returnValue step (const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
 
virtual ~ControlLaw ()
 
- Public Member Functions inherited from SimulationBlock
BlockName getName () const
 
double getSamplingTime () const
 
BooleanType isDefined () const
 
SimulationBlockoperator= (const SimulationBlock &rhs)
 
returnValue setName (BlockName _name)
 
returnValue setSamplingTime (double _samplingTime)
 
 SimulationBlock ()
 
 SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)
 
 SimulationBlock (const SimulationBlock &rhs)
 
virtual ~SimulationBlock ()
 
- Public Member Functions inherited from UserInteraction
virtual int addPlotWindow (PlotWindow &_window)
 
virtual int operator<< (PlotWindow &_window)
 
virtual int operator<< (LogRecord &_record)
 
UserInteractionoperator= (const UserInteraction &rhs)
 
 UserInteraction ()
 
 UserInteraction (const UserInteraction &rhs)
 
virtual ~UserInteraction ()
 
- Public Member Functions inherited from Options
returnValue addOptionsList ()
 
returnValue ensureConsistency ()
 
returnValue ensureConsistency ()
 
returnValue get (OptionsName name, int &value) const
 
returnValue get (OptionsName name, double &value) const
 
returnValue get (OptionsName name, std::string &value) const
 
returnValue get (uint idx, OptionsName name, int &value) const
 
returnValue get (uint idx, OptionsName name, double &value) const
 
returnValue get (uint idx, OptionsName name, std::string &value) const
 
uint getNumOptionsLists () const
 
Options getOptions (uint idx) const
 
Optionsoperator= (const Options &rhs)
 
Optionsoperator= (const Options &rhs)
 
 Options ()
 
 Options ()
 
 Options (const Options &rhs)
 
 Options (const Options &rhs)
 
 Options ()
 
 Options (const OptionsList &_optionsList)
 
returnValue print () const
 
returnValue print () const
 
returnValue printOptionsList () const
 
returnValue printOptionsList (uint idx) const
 
returnValue set (OptionsName name, int value)
 
returnValue set (OptionsName name, double value)
 
returnValue set (OptionsName name, const std::string &value)
 
returnValue set (uint idx, OptionsName name, int value)
 
returnValue set (uint idx, OptionsName name, double value)
 
returnValue set (uint idx, OptionsName name, const std::string &value)
 
returnValue setOptions (const Options &arg)
 
returnValue setOptions (uint idx, const Options &arg)
 
returnValue setToDefault ()
 
returnValue setToDefault ()
 
returnValue setToFast ()
 
returnValue setToFast ()
 
returnValue setToMPC ()
 
returnValue setToReliable ()
 
returnValue setToReliable ()
 
 ~Options ()
 
 ~Options ()
 
virtual ~Options ()
 
- Public Member Functions inherited from Logging
int addLogRecord (LogRecord &record)
 
returnValue getAll (LogName _name, MatrixVariablesGrid &values) const
 
returnValue getFirst (LogName _name, DMatrix &firstValue) const
 
returnValue getFirst (LogName _name, VariablesGrid &firstValue) const
 
returnValue getLast (LogName _name, DMatrix &lastValue) const
 
returnValue getLast (LogName _name, VariablesGrid &lastValue) const
 
returnValue getLogRecord (LogRecord &_record) const
 
uint getNumLogRecords () const
 
 Logging ()
 
int operator<< (LogRecord &record)
 
returnValue printLoggingInfo () const
 
returnValue printNumDoubles () const
 
returnValue setAll (LogName _name, const MatrixVariablesGrid &values)
 
returnValue setLast (LogName _name, const DMatrix &value, double time=-INFTY)
 
returnValue setLast (LogName _name, VariablesGrid &value, double time=-INFTY)
 
returnValue updateLogRecord (LogRecord &_record) const
 
virtual ~Logging ()
 
- Public Member Functions inherited from Plotting
int addPlotWindow (PlotWindow &_window)
 
uint getNumPlotWindows () const
 
returnValue getPlotWindow (uint idx, PlotWindow &_window) const
 
returnValue getPlotWindow (PlotWindow &_window) const
 
int operator<< (PlotWindow &_window)
 
Plottingoperator= (const Plotting &rhs)
 
virtual returnValue plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
 Plotting ()
 
 Plotting (const Plotting &rhs)
 
virtual returnValue replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
virtual ~Plotting ()
 
- Public Member Functions inherited from ClippingFunctionality
 ClippingFunctionality ()
 
 ClippingFunctionality (uint _nU, uint _nP=0)
 
 ClippingFunctionality (const ClippingFunctionality &rhs)
 
ClippingFunctionalityoperator= (const ClippingFunctionality &rhs)
 
returnValue setControlLowerLimit (uint idx, double _lowerLimit)
 
returnValue setControlLowerLimits (const DVector &_lowerLimit)
 
returnValue setControlUpperLimit (uint idx, double _upperLimit)
 
returnValue setControlUpperLimits (const DVector &_upperLimit)
 
returnValue setParameterLowerLimit (uint idx, double _lowerLimit)
 
returnValue setParameterLowerLimits (const DVector &_lowerLimit)
 
returnValue setParameterUpperLimit (uint idx, double _upperLimit)
 
returnValue setParameterUpperLimits (const DVector &_upperLimit)
 
 ~ClippingFunctionality ()
 

Protected Attributes

DMatrix K
 
- Protected Attributes inherited from ControlLaw
DVector p
 
DVector u
 
- Protected Attributes inherited from SimulationBlock
BlockName name
 
RealClock realClock
 
double samplingTime
 
- Protected Attributes inherited from UserInteraction
BlockStatus status
 
- Protected Attributes inherited from Options
std::vector< OptionsListlists
 
- Protected Attributes inherited from Logging
std::vector< LogRecordlogCollection
 
int logIdx
 
- Protected Attributes inherited from Plotting
PlotCollection plotCollection
 
- Protected Attributes inherited from ClippingFunctionality
DVector lowerLimitControls
 
DVector lowerLimitParameters
 
DVector upperLimitControls
 
DVector upperLimitParameters
 

Additional Inherited Members

- Public Attributes inherited from Options
real_t boundRelaxation
 
real_t boundTolerance
 
int dropBoundPriority
 
int_t dropBoundPriority
 
int dropEqConPriority
 
int_t dropEqConPriority
 
int dropIneqConPriority
 
int_t dropIneqConPriority
 
int enableCholeskyRefactorisation
 
int_t enableCholeskyRefactorisation
 
int enableDriftCorrection
 
int_t enableDriftCorrection
 
BooleanType enableDropInfeasibles
 
BooleanType enableEqualities
 
BooleanType enableFarBounds
 
BooleanType enableFlippingBounds
 
BooleanType enableFullLITests
 
BooleanType enableInertiaCorrection
 
BooleanType enableNZCTests
 
BooleanType enableRamping
 
BooleanType enableRegularisation
 
real_t epsDen
 
real_t epsFlipping
 
real_t epsIterRef
 
real_t epsLITests
 
real_t epsNum
 
real_t epsNZCTests
 
real_t epsRegularisation
 
real_t finalRamping
 
real_t growFarBounds
 
real_t initialFarBounds
 
real_t initialRamping
 
SubjectToStatus initialStatusBounds
 
real_t maxDualJump
 
real_t maxPrimalJump
 
int numRefinementSteps
 
int_t numRefinementSteps
 
int numRegularisationSteps
 
int_t numRegularisationSteps
 
PrintLevel printLevel
 
real_t rcondSMin
 
real_t terminationTolerance
 
- Protected Member Functions inherited from UserInteraction
virtual returnValue getPlotDataFromMemberLoggings (PlotWindow &_window) const
 
BlockStatus getStatus () const
 
returnValue setStatus (BlockStatus _status)
 
- Protected Member Functions inherited from Options
returnValue addOption (OptionsName name, int value)
 
returnValue addOption (OptionsName name, double value)
 
returnValue addOption (OptionsName name, const std::string &value)
 
returnValue addOption (uint idx, OptionsName name, int value)
 
returnValue addOption (uint idx, OptionsName name, double value)
 
returnValue addOption (uint idx, OptionsName name, const std::string &value)
 
returnValue clearOptionsList ()
 
returnValue copy (const Options &rhs)
 
returnValue copy (const Options &rhs)
 
returnValue declareOptionsUnchanged ()
 
returnValue declareOptionsUnchanged (uint idx)
 
BooleanType haveOptionsChanged () const
 
BooleanType haveOptionsChanged (uint idx) const
 
virtual returnValue setupOptions ()
 
- Protected Member Functions inherited from Logging
virtual returnValue setupLogging ()
 
- Protected Member Functions inherited from ClippingFunctionality
returnValue clipSignals (VariablesGrid &_u, VariablesGrid &_p=emptyVariablesGrid)
 
returnValue clipSignals (DVector &_u, DVector &_p=emptyVector)
 
uint getNumControlLimits () const
 
uint getNumParameterLimits () const
 

Detailed Description

Implements a linear state feedback law to be used within a Controller.

The class LinearStateFeedback implements a linear state feedback law to be used within a Controller.

Author
Hans Joachim Ferreau, Boris Houska

Definition at line 57 of file linear_state_feedback.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO LinearStateFeedback::LinearStateFeedback ( )

Default constructor.

Definition at line 46 of file linear_state_feedback.cpp.

LinearStateFeedback::LinearStateFeedback ( const DMatrix _K,
double  _samplingTime = DEFAULT_SAMPLING_TIME 
)

Constructor which takes the gain matrix of the linear feedback law together with the sampling time.

Parameters
[in]_KLinear feedback gain matrix.
[in]_samplingTimeSampling time.

Definition at line 52 of file linear_state_feedback.cpp.

LinearStateFeedback::LinearStateFeedback ( const LinearStateFeedback rhs)

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 61 of file linear_state_feedback.cpp.

LinearStateFeedback::~LinearStateFeedback ( )
virtual

Destructor.

Definition at line 67 of file linear_state_feedback.cpp.

Member Function Documentation

ControlLaw * LinearStateFeedback::clone ( ) const
virtual

Clone constructor (deep copy).

\return Pointer to deep copy of base class type

Implements ControlLaw.

Definition at line 86 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNP ( ) const
virtual

Returns number of parameters.

Returns
Number of parameters

Reimplemented from ControlLaw.

Definition at line 165 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNU ( ) const
virtual

Returns number of controls.

Returns
Number of controls

Reimplemented from ControlLaw.

Definition at line 159 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNW ( ) const
virtual

Returns number of (estimated) disturbances.

Returns
Number of (estimated) disturbances

Reimplemented from ControlLaw.

Definition at line 171 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNX ( ) const
virtual

Returns number of (estimated) differential states.

Returns
Number of (estimated) differential states

Reimplemented from ControlLaw.

Definition at line 147 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNXA ( ) const
virtual

Returns number of (estimated) algebraic states.

Returns
Number of (estimated) algebraic states

Reimplemented from ControlLaw.

Definition at line 153 of file linear_state_feedback.cpp.

uint LinearStateFeedback::getNY ( ) const
virtual

Returns number of process outputs.

Returns
Number of process outputs

Reimplemented from ControlLaw.

Definition at line 177 of file linear_state_feedback.cpp.

returnValue LinearStateFeedback::init ( double  startTime = 0.0,
const DVector x0_ = emptyConstVector,
const DVector p_ = emptyConstVector,
const VariablesGrid _yRef = emptyConstVariablesGrid 
)
virtual

Initializes the feedback law with given start values and performs a number of consistency checks.

Parameters
[in]_startTimeStart time.
[in]_xInitial value for differential states.
[in]_pInitial value for parameters.
[in]_yRefInitial value for reference trajectory.
Returns
SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 92 of file linear_state_feedback.cpp.

BooleanType LinearStateFeedback::isDynamic ( ) const
virtual

Returns whether the control law is based on dynamic optimization or a static one.

Returns
BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 183 of file linear_state_feedback.cpp.

BooleanType LinearStateFeedback::isStatic ( ) const
virtual

Returns whether the control law is a static one or based on dynamic optimization.

Returns
BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 189 of file linear_state_feedback.cpp.

LinearStateFeedback & LinearStateFeedback::operator= ( const LinearStateFeedback rhs)

Assignment operator (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 72 of file linear_state_feedback.cpp.

returnValue LinearStateFeedback::step ( double  currentTime,
const DVector _x,
const DVector _p = emptyConstVector,
const VariablesGrid _yRef = emptyConstVariablesGrid 
)
virtual

Performs next step of the feedback law based on given inputs.

@param[in]  currentTime     Current time.
@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[in]  _yRef           Current piece of reference trajectory.
Returns
SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_VECTOR_DIMENSION_MISMATCH,
RET_CONTROLLAW_STEP_FAILED

Implements ControlLaw.

Definition at line 103 of file linear_state_feedback.cpp.

Member Data Documentation

DMatrix LinearStateFeedback::K
protected

Linear state feedback gain matrix.

Definition at line 204 of file linear_state_feedback.hpp.


The documentation for this class was generated from the following files:


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:25