Abstract base class to define a reference trajectory that the ControlLaw aims to track. More...
#include <reference_trajectory.hpp>
Abstract base class to define a reference trajectory that the ControlLaw aims to track.
The class ReferenceTrajectory can be passed to or used within the Controller of the SimulationEnvronment. It serves as an abstract base class to define a reference trajectory that the ControlLaw aims to track while computing its control action.
Definition at line 59 of file reference_trajectory.hpp.
BEGIN_NAMESPACE_ACADO ReferenceTrajectory::ReferenceTrajectory | ( | ) |
Default constructor.
Definition at line 46 of file reference_trajectory.cpp.
ReferenceTrajectory::ReferenceTrajectory | ( | const ReferenceTrajectory & | rhs | ) |
Copy constructor (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 51 of file reference_trajectory.cpp.
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virtual |
Destructor.
Definition at line 56 of file reference_trajectory.cpp.
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pure virtual |
Clone constructor (deep copy).
\return Pointer to deep copy of base class type
Implemented in PeriodicReferenceTrajectory, StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.
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pure virtual |
Returns dimension of reference trajectory.
Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.
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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.
Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, AdaptiveReferenceTrajectory, and PeriodicReferenceTrajectory.
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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.
Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.
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inline |
Returns whether reference trajectory is defined (i.e. has positive dimension).
ReferenceTrajectory & ReferenceTrajectory::operator= | ( | const ReferenceTrajectory & | rhs | ) |
Assignment operator (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 61 of file 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.
Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.
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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.
Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.