linear_state_feedback.hpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
25 
26 
33 #ifndef ACADO_TOOLKIT_LINEAR_STATE_FEEDBACK_HPP
34 #define ACADO_TOOLKIT_LINEAR_STATE_FEEDBACK_HPP
35 
36 
39 
42 
43 
45 
46 
58 {
59  //
60  // PUBLIC MEMBER FUNCTIONS:
61  //
62  public:
66 
73  LinearStateFeedback( const DMatrix& _K,
74  double _samplingTime = DEFAULT_SAMPLING_TIME
75  );
76 
82  );
83 
86  virtual ~LinearStateFeedback( );
87 
93  );
94 
99  virtual ControlLaw* clone( ) const;
100 
101 
112  virtual returnValue init( double startTime = 0.0,
113  const DVector &x0_ = emptyConstVector,
114  const DVector &p_ = emptyConstVector,
116  );
117 
118 
131  virtual returnValue step( double currentTime,
132  const DVector& _x,
133  const DVector& _p = emptyConstVector,
135  );
136 
137 
142  virtual uint getNX( ) const;
143 
148  virtual uint getNXA( ) const;
149 
154  virtual uint getNU( ) const;
155 
160  virtual uint getNP( ) const;
161 
166  virtual uint getNW( ) const;
167 
172  virtual uint getNY( ) const;
173 
174 
181  virtual BooleanType isDynamic( ) const;
182 
188  virtual BooleanType isStatic( ) const;
189 
190 
191 
192  //
193  // PROTECTED MEMBER FUNCTIONS:
194  //
195  protected:
196 
197 
198 
199  //
200  // DATA MEMBERS:
201  //
202  protected:
203 
206 };
207 
208 
210 
211 
212 
213 //#include <acado/control_law/linear_state_feedback.ipp>
214 
215 
216 #endif // ACADO_TOOLKIT_LINEAR_STATE_FEEDBACK_HPP
217 
218 /*
219  * end of file
220  */
LinearStateFeedback & operator=(const LinearStateFeedback &rhs)
virtual BooleanType isStatic() const
virtual returnValue init(double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
virtual uint getNP() const
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
Definition: acado_types.hpp:42
#define CLOSE_NAMESPACE_ACADO
virtual uint getNXA() const
virtual BooleanType isDynamic() const
static const DVector emptyConstVector
Definition: vector.hpp:336
virtual uint getNX() const
void rhs(const real_t *x, real_t *f)
Implements a linear state feedback law to be used within a Controller.
const double DEFAULT_SAMPLING_TIME
virtual uint getNW() const
Allows to transform the output of the ControlLaw before passing it to the Process.
#define BEGIN_NAMESPACE_ACADO
virtual uint getNU() const
virtual uint getNY() const
Base class for interfacing online feedback laws to be used within a Controller.
Definition: control_law.hpp:64
static const VariablesGrid emptyConstVariablesGrid
virtual returnValue step(double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual ControlLaw * clone() const


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:34:48