lyapunov.cpp
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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.
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20  * You should have received a copy of the GNU Lesser General Public
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22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
25 
26 
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35 
37 
38 
40 }
41 
42 Lyapunov::Lyapunov(const Expression &rhs1_, const Expression &A_, const Expression &B_, const Expression &P_, const Expression &x1_, const Expression &u_, const Expression &p_){
43 
44  rhs1=rhs1_;
45  A=A_;
46  B=B_;
47  P=P_;
48  x1=x1_;
49  u=u_;
50  p=p_;
51 }
52 
53 Lyapunov::Lyapunov(const Expression &rhs1_, const Expression &rhs2_, const Expression &A_, const Expression &B_, const Expression &P_, const Expression &x1_, const Expression &x2_, const Expression &u_, const Expression &p_){
54 
55  rhs1=rhs1_;
56  rhs2=rhs2_;
57  A=A_;
58  B=B_;
59  P=P_;
60  x1=x1_;
61  x2=x2_;
62  u=u_;
63  p=p_;
64 }
65 
66 Lyapunov::Lyapunov(const Expression &rhs1_, const Expression &rhs2_, const Expression &A_, const Expression &B_, const Expression &P_, const Expression &x1_, const Expression &x2_, const Expression &u_, const Expression &p_, const Expression &useed_, const Expression &pseed_, const Expression &Yx1_, const Expression &Yx2_, const Expression &YP_){
67 
68  rhs1=rhs1_;
69  rhs2=rhs2_;
70  A=A_;
71  B=B_;
72  P=P_;
73  x1=x1_;
74  x2=x2_;
75  u=u_;
76  p=p_;
77  useed=useed_;
78  pseed=pseed_;
79  Yx1=Yx1_;
80  Yx2=Yx2_;
81  YP=YP_;
82 }
83 
84 
85 Lyapunov::Lyapunov(const Expression &rhs1_, const Expression &A_, const Expression &B_, const Expression &P_, const Expression &x1_, const Expression &u_, const Expression &p_, const Expression &w_){
86 
87  rhs1=rhs1_;
88  A=A_;
89  B=B_;
90  P=P_;
91  x1=x1_;
92  u=u_;
93  p=p_;
94  w=w_;
95 }
96 
97 Lyapunov::Lyapunov(const Expression &rhs1_, const Expression &rhs2_, const Expression &A_, const Expression &B_, const Expression &P_, const Expression &x1_, const Expression &x2_, const Expression &u_, const Expression &p_, const Expression &w_){
98 
99  rhs1=rhs1_;
100  rhs2=rhs2_;
101  A=A_;
102  B=B_;
103  P=P_;
104  x1=x1_;
105  x2=x2_;
106  u=u_;
107  p=p_;
108  w=w_;
109 }
110 
111 Lyapunov::Lyapunov(const Expression &rhs1_, const Expression &rhs2_, const Expression &A_, const Expression &B_, const Expression &P_, const Expression &x1_, const Expression &x2_, const Expression &u_, const Expression &p_, const Expression &w_, const Expression &useed_, const Expression &pseed_, const Expression &Yx1_, const Expression &Yx2_, const Expression &YP_){
112 
113  rhs1=rhs1_;
114  rhs2=rhs2_;
115  A=A_;
116  B=B_;
117  P=P_;
118  x1=x1_;
119  x2=x2_;
120  u=u_;
121  p=p_;
122  w=w_;
123  useed=useed_;
124  pseed=pseed_;
125  Yx1=Yx1_;
126  Yx2=Yx2_;
127  YP=YP_;
128 }
129 
130 
132 
133 
134  rhs1=arg.rhs1;
135  rhs2=arg.rhs2;
136  A=arg.A;
137  B=arg.B;
138  P=arg.P;
139  x1=arg.x1;
140  x2=arg.x2;
141  u=arg.u;
142  p=arg.p;
143  w=arg.w;
144  useed=arg.useed;
145  pseed=arg.pseed;
146  Yx1=arg.Yx1;
147  Yx2=arg.Yx2;
148  YP=arg.YP;
149 }
150 
151 
153 
154 
156 
157  if( this != &arg ){
158 
159  rhs1=arg.rhs1;
160  rhs2=arg.rhs2;
161  A=arg.A;
162  B=arg.B;
163  P=arg.P;
164  x1=arg.x1;
165  x2=arg.x2;
166  u=arg.u;
167  p=arg.p;
168  w=arg.w;
169  useed=arg.useed;
170  pseed=arg.pseed;
171  Yx1=arg.Yx1;
172  Yx2=arg.Yx2;
173  YP=arg.YP;
174  }
175  return *this;
176 }
177 
179  if ((P).getDim() == 0) return BT_TRUE;
180  return BT_FALSE;
181 }
182 
183 
184 //}
185 
186 
188 
189 // end of file.
BooleanType isEmpty() const
Definition: lyapunov.cpp:178
Expression A
Definition: lyapunov.hpp:116
virtual ~Lyapunov()
Definition: lyapunov.cpp:152
Expression Yx1
Definition: lyapunov.hpp:126
Expression rhs2
Definition: lyapunov.hpp:115
Expression rhs1
Definition: lyapunov.hpp:114
#define CLOSE_NAMESPACE_ACADO
Expression P
Definition: lyapunov.hpp:118
Base class for all variables within the symbolic expressions family.
Definition: expression.hpp:56
Expression p
Definition: lyapunov.hpp:122
Expression x2
Definition: lyapunov.hpp:120
Lyapunov()
Definition: lyapunov.cpp:39
Expression B
Definition: lyapunov.hpp:117
Expression x1
Definition: lyapunov.hpp:119
Expression useed
Definition: lyapunov.hpp:125
Expression u
Definition: lyapunov.hpp:121
#define BT_TRUE
Definition: acado_types.hpp:47
Lyapunov & operator=(const Lyapunov &arg)
Definition: lyapunov.cpp:155
#define BEGIN_NAMESPACE_ACADO
#define BT_FALSE
Definition: acado_types.hpp:49
Expression pseed
Definition: lyapunov.hpp:124
Expression w
Definition: lyapunov.hpp:123
Implements a parameter.
Definition: lyapunov.hpp:54
Expression YP
Definition: lyapunov.hpp:128
Expression Yx2
Definition: lyapunov.hpp:127
uint getDim() const


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