dynamic_estimator.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/estimator/dynamic_estimator.hpp>



BEGIN_NAMESPACE_ACADO


//
// PUBLIC MEMBER FUNCTIONS:
//

DynamicEstimator::DynamicEstimator( ) : Estimator( )
{
}


DynamicEstimator::DynamicEstimator(     const RealTimeAlgorithm& _realTimeAlgorithm,
                                                                        double _samplingTime
                                                                        ) : Estimator( _samplingTime )
{
        realTimeAlgorithm = new RealTimeAlgorithm( _realTimeAlgorithm );
        setStatus( BS_NOT_INITIALIZED );
}


DynamicEstimator::DynamicEstimator( const DynamicEstimator& rhs ) : Estimator( rhs )
{
        if ( rhs.realTimeAlgorithm != 0 )
                realTimeAlgorithm = new RealTimeAlgorithm( *(rhs.realTimeAlgorithm) );
        else
                realTimeAlgorithm = 0;
}


DynamicEstimator::~DynamicEstimator( )
{
        if ( realTimeAlgorithm != 0 )
                delete realTimeAlgorithm;
}


DynamicEstimator& DynamicEstimator::operator=( const DynamicEstimator& rhs )
{
        if ( this != &rhs )
        {
                if ( realTimeAlgorithm != 0 )
                        delete realTimeAlgorithm;


                Estimator::operator=( rhs );


                if ( rhs.realTimeAlgorithm!= 0 )
                        realTimeAlgorithm = new RealTimeAlgorithm( *(rhs.realTimeAlgorithm) );
                else
                        realTimeAlgorithm = 0;
        }

    return *this;
}


Estimator* DynamicEstimator::clone( ) const
{
        return new DynamicEstimator( *this );
}



returnValue DynamicEstimator::init(     double startTime,
                                                                        const DVector &x0_,
                                                                        const DVector &p_
                                                                        )
{
        setStatus( BS_READY );

        return SUCCESSFUL_RETURN;
}


returnValue DynamicEstimator::step(     double currentTime,
                                                                        const DVector& _y
                                                                        )
{
        return SUCCESSFUL_RETURN;
}



//
// PROTECTED MEMBER FUNCTIONS:
//




CLOSE_NAMESPACE_ACADO

// end of file.