PeriodicReferenceTrajectory Class Reference

Allows to define a static periodic reference trajectory that the ControlLaw aims to track. More...

#include <periodic_reference_trajectory.hpp>

Inheritance diagram for PeriodicReferenceTrajectory:

Public Member Functions
virtual ReferenceTrajectory *	clone () const
virtual returnValue	getReference (double tStart, double tEnd, VariablesGrid &_yRef) const
PeriodicReferenceTrajectory &	operator= (const PeriodicReferenceTrajectory &rhs)
	PeriodicReferenceTrajectory ()
	PeriodicReferenceTrajectory (const VariablesGrid &_yRef)
	PeriodicReferenceTrajectory (const char *const _yRefFileName)
	PeriodicReferenceTrajectory (const PeriodicReferenceTrajectory &rhs)
virtual	~PeriodicReferenceTrajectory ()
Public Member Functions inherited from StaticReferenceTrajectory
virtual uint	getDim () 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)
StaticReferenceTrajectory &	operator= (const StaticReferenceTrajectory &rhs)
	StaticReferenceTrajectory ()
	StaticReferenceTrajectory (const VariablesGrid &_yRef)
	StaticReferenceTrajectory (const char *const _yRefFileName)
	StaticReferenceTrajectory (const StaticReferenceTrajectory &rhs)
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	~StaticReferenceTrajectory ()
Public Member Functions inherited from ReferenceTrajectory
BooleanType	isDefined () const
ReferenceTrajectory &	operator= (const ReferenceTrajectory &rhs)
	ReferenceTrajectory ()
	ReferenceTrajectory (const ReferenceTrajectory &rhs)
virtual	~ReferenceTrajectory ()

Additional Inherited Members
Protected Attributes inherited from StaticReferenceTrajectory
VariablesGrid	yRef

Detailed Description

Allows to define a static periodic reference trajectory that the ControlLaw aims to track.

The class PeriodicReferenceTrajectory allows to define a static periodic reference trajectory (given beforehand) that the ControlLaw aims to track while computing its control action.

The user-specified static reference trajectory is repeated as often as necessary to yield an infinitely long periodic reference trajectory.

Author

Hans Joachim Ferreau, Boris Houska

Definition at line 58 of file periodic_reference_trajectory.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO PeriodicReferenceTrajectory::PeriodicReferenceTrajectory

(

)

Default constructor.

Definition at line 46 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::PeriodicReferenceTrajectory

(

const VariablesGrid &

_yRef

)

Constructor which takes a pre-defined static reference trajectory.

@param[in] _yRef                    Pre-defined reference trajectory.

Definition at line 57 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::PeriodicReferenceTrajectory

(

const char *const

_yRefFileName

)

Constructor which takes a pre-defined static reference trajectory.

@param[in] _yRefFileName    Name of file containing the pre-defined reference trajectory.

Definition at line 63 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::PeriodicReferenceTrajectory

(

const PeriodicReferenceTrajectory &

rhs

)

Copy constructor (deep copy).

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

Definition at line 69 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory::~PeriodicReferenceTrajectory ( )

virtual

Destructor.

Definition at line 76 of file periodic_reference_trajectory.cpp.

Member Function Documentation

ReferenceTrajectory * PeriodicReferenceTrajectory::clone ( ) const

virtual

Clone constructor (deep copy).

\return Pointer to deep copy of base class type

Reimplemented from StaticReferenceTrajectory.

Definition at line 93 of file periodic_reference_trajectory.cpp.

returnValue PeriodicReferenceTrajectory::getReference ( double  tStart, double  tEnd, VariablesGrid &  _yRef  ) const

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.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Reimplemented from StaticReferenceTrajectory.

Definition at line 99 of file periodic_reference_trajectory.cpp.

PeriodicReferenceTrajectory & PeriodicReferenceTrajectory::operator=

(

const PeriodicReferenceTrajectory &

rhs

)

Assignment operator (deep copy).

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

Definition at line 81 of file periodic_reference_trajectory.cpp.

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

• periodic_reference_trajectory.hpp
• periodic_reference_trajectory.cpp