58 return setDimensions( _NX1, _NX2, _NX3, _NDX, 0, _NXA, 0, _NU, _NOD, _NP );
63 return setDimensions( 0, _NX, 0, _NDX, _NXA, _NU, _NOD, _NP );
134 Grid grid( newMeas );
140 Grid grid( 0.0, 1.0, (
int)numberMeasurements + 1 );
148 Grid grid( newMeas );
154 Grid grid( 0.0, 1.0, (
int)numberMeasurements + 1 );
160 const DVector& measurements,
const std::string& colInd,
const std::string& rowPtr ) {
163 Grid grid( newMeas );
169 const uint numberMeasurements,
const std::string& colInd,
const std::string& rowPtr ) {
170 Grid grid( 0.0, 1.0, (
int)numberMeasurements + 1 );
194 std::vector<Expression> outputExpressions_;
196 if( outputExpressions_.size() == 0 )
return BT_FALSE;
248 if(
NU > 0 )
return NU;
255 if(
NP > 0 )
return NP;
returnValue setLinearInput(const DMatrix &A1_, const DMatrix &B1_)
BooleanType exportRhs() const
returnValue setIntegrationGrid(const Grid &_ocpGrid, const uint _numSteps)
uint addOutput(const OutputFcn &outputEquation_, const DVector &measurements)
Allows to setup and evaluate output functions based on SymbolicExpressions.
returnValue setNP(const uint NP_)
returnValue setLinearOutput(const DMatrix &A3_, const OutputFcn &rhs_)
DVector getNumMeas() const
BooleanType modelDimensionsSet() const
DVector getDimOutputs() const
returnValue getOutputExpressions(std::vector< Expression > &outputExpressions_) const
BooleanType hasEquidistantControlGrid() const
returnValue setNonlinearFeedback(const DMatrix &C_, const OutputFcn &feedb_)
Allows to pass back messages to the calling function.
BooleanType modelDimensionsSet() const
returnValue setNU(const uint NU_)
returnValue getModel(DifferentialEquation &_f) const
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
Allows to conveniently handle (one-dimensional) grids consisting of time points.
DVector getDimOutputs() const
returnValue setModelData(const ModelData &data)
returnValue setLinearInput(const DMatrix &M1_, const DMatrix &A1_, const DMatrix &B1_)
#define CLOSE_NAMESPACE_ACADO
Data class for defining models and everything that is related, to be passed to the integrator...
const std::string getFileNameModel() const
returnValue setModel(const DifferentialEquation &_f)
returnValue getModel(DifferentialEquation &_f) const
returnValue setN(const uint N_)
returnValue setNARXmodel(const uint _delay, const DMatrix &_parms)
uint addOutput(const OutputFcn &outputEquation_, const Grid &measurements)
returnValue setLinearOutput(const DMatrix &M3_, const DMatrix &A3_, const OutputFcn &rhs_)
returnValue setModel(const DifferentialEquation &_f)
returnValue getIntegrationGrid(Grid &integrationGrid_) const
BooleanType hasEquidistantControlGrid() const
returnValue setNOD(const uint NOD_)
BooleanType hasOutputs() const
returnValue setIntegrationGrid(const Grid &_ocpGrid, const uint _numSteps)
returnValue setDimensions(uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NOD, uint _NP)
returnValue setNARXmodel(const uint _delay, const DMatrix &_parms)
returnValue getIntegrationGrid(Grid &_grid) const
unsigned getNumRows() const
GenericVector & append(const GenericVector &_arg)
DVector getNumMeas() const
#define BEGIN_NAMESPACE_ACADO
returnValue setDimensions(uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NOD, uint _NP)
USING_NAMESPACE_ACADO void output(const char *name, const Expression &e)
returnValue setNOD(const uint NOD_)
ModelData & getModelData()
BooleanType exportRhs() const
returnValue setN(const uint N_)
const std::string getFileNameModel() const
returnValue setNonlinearFeedback(const DMatrix &C_, const OutputFcn &feedb_)
BooleanType hasDifferentialEquation() const
returnValue setNP(const uint NP_)
returnValue setNU(const uint NU_)
Allows to setup and evaluate differential equations (ODEs and DAEs) based on SymbolicExpressions.