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

#include <static_reference_trajectory.hpp>

Inheritance diagram for StaticReferenceTrajectory:

Public Member Functions
virtual ReferenceTrajectory *	clone () const

virtual uint	getDim () const

virtual returnValue	getReference (double tStart, double tEnd, VariablesGrid &_yRef) 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 ()

Protected Attributes
VariablesGrid	yRef

Detailed Description

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

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

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 55 of file static_reference_trajectory.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO StaticReferenceTrajectory::StaticReferenceTrajectory ( )

Default constructor.

Definition at line 45 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::StaticReferenceTrajectory ( const VariablesGrid & _yRef )

Constructor which takes a pre-defined static reference trajectory.

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

Definition at line 59 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::StaticReferenceTrajectory ( 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 75 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::StaticReferenceTrajectory ( const StaticReferenceTrajectory & rhs )

Copy constructor (deep copy).

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

Definition at line 95 of file static_reference_trajectory.cpp.

StaticReferenceTrajectory::~StaticReferenceTrajectory ( )

virtual

Destructor.

Definition at line 101 of file static_reference_trajectory.cpp.

Member Function Documentation

ReferenceTrajectory * StaticReferenceTrajectory::clone ( ) const

virtual

Clone constructor (deep copy).

\return Pointer to deep copy of base class type

Implements ReferenceTrajectory.

Reimplemented in PeriodicReferenceTrajectory.

Definition at line 119 of file static_reference_trajectory.cpp.

uint StaticReferenceTrajectory::getDim ( ) const

virtual

Returns dimension of reference trajectory.

Returns: Dimension of reference trajectory

Implements ReferenceTrajectory.

Definition at line 197 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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

Implements ReferenceTrajectory.

Reimplemented in PeriodicReferenceTrajectory.

Definition at line 160 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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`
	)

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.

Returns: SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Definition at line 125 of file static_reference_trajectory.cpp.

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

Assignment operator (deep copy).

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

Definition at line 106 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::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

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.

Returns: SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Definition at line 137 of file static_reference_trajectory.cpp.

returnValue StaticReferenceTrajectory::step	(	const DVector &	_x,
		const VariablesGrid &	_u = `emptyConstVariablesGrid`,
		const VariablesGrid &	_p = `emptyConstVariablesGrid`,
		const VariablesGrid &	_w = `emptyConstVariablesGrid`
	)

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.

Returns: SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Definition at line 150 of file static_reference_trajectory.cpp.

Member Data Documentation

VariablesGrid StaticReferenceTrajectory::yRef

protected

Definition at line 200 of file static_reference_trajectory.hpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation