simulated_reference_trajectory.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_SIMULATED_REFERENCE_TRAJECTORY_HPP
34 #define ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP
35 
36 
40 
41 
43 
44 
57 {
58  //
59  // PUBLIC MEMBER FUNCTIONS:
60  //
61  public:
62 
66 
69  SimulatedReferenceTrajectory( const DynamicSystem& _dynamicSystem,
70  IntegratorType _integratorType = INT_UNKNOWN
71  );
72 
78  );
79 
83 
89  );
90 
95  virtual ReferenceTrajectory* clone( ) const;
96 
97 
109  virtual returnValue init( double startTime = 0.0,
110  const DVector& _x = emptyConstVector,
111  const DVector& _xa = emptyConstVector,
112  const DVector& _u = emptyConstVector,
113  const DVector& _p = emptyConstVector,
114  const DVector& _w = emptyConstVector
115  );
116 
117 
130  virtual returnValue step( double _currentTime,
131  const DVector& _y,
132  const DVector& _x = emptyConstVector,
133  const DVector& _xa = emptyConstVector,
134  const DVector& _u = emptyConstVector,
135  const DVector& _p = emptyConstVector,
136  const DVector& _w = emptyConstVector
137  );
138 
148  virtual returnValue step( const DVector& _x,
152  );
153 
154 
164  virtual returnValue getReference( double tStart,
165  double tEnd,
166  VariablesGrid& _yRef
167  ) const;
168 
169 
174  virtual uint getDim( ) const;
175 
176 
177 
178  //
179  // PROTECTED MEMBER FUNCTIONS:
180  //
181  protected:
182 
183 
184 
185  //
186  // DATA MEMBERS:
187  //
188  protected:
190 };
191 
192 
194 
195 
196 
197 #endif // ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP
198 
199 /*
200  * end of file
201  */
Abstract base class to define a reference trajectory that the ControlLaw aims to track.
Stores a DifferentialEquation together with an OutputFcn.
virtual returnValue init(double startTime=0.0, const DVector &_x=emptyConstVector, const DVector &_xa=emptyConstVector, const DVector &_u=emptyConstVector, const DVector &_p=emptyConstVector, const DVector &_w=emptyConstVector)
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
Definition: acado_types.hpp:42
#define CLOSE_NAMESPACE_ACADO
static const DVector emptyConstVector
Definition: vector.hpp:336
IntegratorType
Allows to define a simulated reference trajectory that the ControlLaw aims to track.
virtual returnValue getReference(double tStart, double tEnd, VariablesGrid &_yRef) const
void rhs(const real_t *x, real_t *f)
SimulatedReferenceTrajectory & operator=(const SimulatedReferenceTrajectory &rhs)
virtual returnValue step(double _currentTime, const DVector &_y, const DVector &_x=emptyConstVector, const DVector &_xa=emptyConstVector, const DVector &_u=emptyConstVector, const DVector &_p=emptyConstVector, const DVector &_w=emptyConstVector)
Allows to define an adaptive reference trajectory that the ControlLaw aims to track.
Simulates the process to be controlled based on a dynamic model.
Definition: process.hpp:71
#define BEGIN_NAMESPACE_ACADO
virtual ReferenceTrajectory * clone() const
static const VariablesGrid emptyConstVariablesGrid


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:06