control_law.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include <acado/control_law/control_law.hpp>


BEGIN_NAMESPACE_ACADO



//
// PUBLIC MEMBER FUNCTIONS:
//

ControlLaw::ControlLaw( ) : SimulationBlock( BN_CONTROL_LAW )
{
}


ControlLaw::ControlLaw( double _samplingTime
                                                ) : SimulationBlock( BN_CONTROL_LAW,_samplingTime )
{
}


ControlLaw::ControlLaw( const ControlLaw& rhs ) : SimulationBlock( rhs )
{
        u = rhs.u;
        p = rhs.u;
}


ControlLaw::~ControlLaw( )
{
}


ControlLaw& ControlLaw::operator=( const ControlLaw& rhs )
{
        if ( this != &rhs )
        {
                SimulationBlock::operator=( rhs );

                u = rhs.u;
                p = rhs.u;
        }

    return *this;
}



returnValue ControlLaw::initializeAlgebraicStates( const VariablesGrid& _xa_init )
{
        return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
}


returnValue ControlLaw::initializeAlgebraicStates( const char* fileName )
{
        return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
}



returnValue ControlLaw::initializeControls( const VariablesGrid& _u_init )
{
        return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
}


returnValue ControlLaw::initializeControls( const char* fileName )
{
        return ACADOERROR( RET_NOT_IMPLEMENTED_IN_BASE_CLASS );
}




returnValue ControlLaw::step(   const DVector& _x,
                                                                const DVector& _p,
                                                                const VariablesGrid& _yRef
                                                                )
{
    return step( 0.0,_x,_p,_yRef );
}


returnValue ControlLaw::feedbackStep(   double currentTime,
                                                                                const DVector& _x,
                                                                                const DVector& _p,
                                                                                const VariablesGrid& _yRef
                                                                                )
{
        // perform standard step
        return step( currentTime,_x,_p,_yRef );
}


returnValue ControlLaw::preparationStep(        double nextTime,
                                                                                        const VariablesGrid& _yRef
                                                                                        )
{
        // do nothing by default
        return SUCCESSFUL_RETURN;
}



returnValue ControlLaw::shift(  double timeShift
                                                                )
{
        return ACADOERROR( RET_NO_REALTIME_MODE_AVAILABLE );
}



uint ControlLaw::getNX( ) const
{
        return 0;
}


uint ControlLaw::getNXA( ) const
{
        return 0;
}


uint ControlLaw::getNU( ) const
{
        return 0;
}


uint ControlLaw::getNP( ) const
{
        return 0;
}


uint ControlLaw::getNW( ) const
{
        return 0;
}


uint ControlLaw::getNY( ) const
{
        return 0;
}


double ControlLaw::getLengthPredictionHorizon( ) const
{
        return samplingTime;
}


double ControlLaw::getLengthControlHorizon( ) const
{
        return samplingTime;
}


//
// PROTECTED MEMBER FUNCTIONS:
//

BooleanType ControlLaw::isInRealTimeMode( ) const
{
        return BT_FALSE;
}



CLOSE_NAMESPACE_ACADO

// end of file.