33 #ifndef ACADO_TOOLKIT_CONTROLLER_HPP 34 #define ACADO_TOOLKIT_CONTROLLER_HPP 230 const double*
const _y,
439 #include <acado/controller/controller.ipp> 442 #endif // ACADO_TOOLKIT_CONTROLLER_HPP virtual returnValue preparationStep(double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)
Calculates the control inputs of the Process based on the Process outputs.
Abstract base class to define a reference trajectory that the ControlLaw aims to track.
virtual returnValue setupLogging()
Allows real time measurements based on the system's clock.
returnValue setEstimator(Estimator &_estimator)
virtual returnValue getCurrentReference(double tStart, VariablesGrid &_yRef) const
returnValue initializeAlgebraicStates(const VariablesGrid &_xa_init)
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
ReferenceTrajectory * referenceTrajectory
virtual returnValue obtainEstimates(double currentTime, const DVector &_y, DVector &xEst, DVector &pEst)
#define CLOSE_NAMESPACE_ACADO
RealClock controlLawClock
BooleanType hasReferenceTrajectory() const
virtual returnValue step(double currentTime, const DVector &_y, const VariablesGrid &_yRef=emptyConstVariablesGrid)
Controller & operator=(const Controller &rhs)
BooleanType hasEstimator() const
static const DVector emptyConstVector
returnValue setReferenceTrajectory(ReferenceTrajectory &_referenceTrajectory)
double getSamplingTimeEstimator()
virtual returnValue init(double startTime=0.0, const DVector &_x0=emptyConstVector, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
Base class for interfacing online state/parameter estimators.
BooleanType hasStaticControlLaw() const
void rhs(const real_t *x, real_t *f)
double getNextSamplingInstant(double currentTime)
BooleanType hasDynamicControlLaw() const
double getSamplingTimeControlLaw()
Base class for building-blocks of the SimulationEnvironment.
returnValue setControlLaw(ControlLaw &_controlLaw)
#define BEGIN_NAMESPACE_ACADO
double getPreviousRealRuntime()
virtual returnValue feedbackStep(double currentTime, const DVector &_y, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual returnValue setupOptions()
returnValue getU(DVector &_u) const
Base class for interfacing online feedback laws to be used within a Controller.
static const VariablesGrid emptyConstVariablesGrid
CLOSE_NAMESPACE_ACADO static BEGIN_NAMESPACE_ACADO StaticReferenceTrajectory emptyReferenceTrajectory
returnValue getP(DVector &_p) const