Allows to define a simulated reference trajectory that the ControlLaw aims to track. More...
#include <simulated_reference_trajectory.hpp>
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Process * | process |
Allows to define a simulated reference trajectory that the ControlLaw aims to track.
The class SimulatedReferenceTrajectory allows to define an reference trajectory that is determined online based on the simulation of a dynamic system. The ControlLaw can aim to track this reference trajectory while computing its control action.
Definition at line 56 of file simulated_reference_trajectory.hpp.
BEGIN_NAMESPACE_ACADO SimulatedReferenceTrajectory::SimulatedReferenceTrajectory | ( | ) |
Default constructor.
Definition at line 46 of file simulated_reference_trajectory.cpp.
SimulatedReferenceTrajectory::SimulatedReferenceTrajectory | ( | const DynamicSystem & | _dynamicSystem, |
IntegratorType | _integratorType = INT_UNKNOWN |
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Default constructor.
Definition at line 52 of file simulated_reference_trajectory.cpp.
SimulatedReferenceTrajectory::SimulatedReferenceTrajectory | ( | const SimulatedReferenceTrajectory & | rhs | ) |
Copy constructor (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 60 of file simulated_reference_trajectory.cpp.
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Destructor.
Definition at line 69 of file simulated_reference_trajectory.cpp.
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Clone constructor (deep copy).
\return Pointer to deep copy of base class type
Implements AdaptiveReferenceTrajectory.
Definition at line 91 of file simulated_reference_trajectory.cpp.
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Returns dimension of reference trajectory.
Reimplemented from AdaptiveReferenceTrajectory.
Definition at line 144 of file simulated_reference_trajectory.cpp.
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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 AdaptiveReferenceTrajectory.
Definition at line 134 of file simulated_reference_trajectory.cpp.
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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 AdaptiveReferenceTrajectory.
Definition at line 97 of file simulated_reference_trajectory.cpp.
SimulatedReferenceTrajectory & SimulatedReferenceTrajectory::operator= | ( | const SimulatedReferenceTrajectory & | rhs | ) |
Assignment operator (deep copy).
@param[in] rhs Right-hand side object.
Definition at line 76 of file simulated_reference_trajectory.cpp.
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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 AdaptiveReferenceTrajectory.
Definition at line 109 of file simulated_reference_trajectory.cpp.
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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 AdaptiveReferenceTrajectory.
Definition at line 122 of file simulated_reference_trajectory.cpp.
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Definition at line 189 of file simulated_reference_trajectory.hpp.