33 #ifndef ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP 34 #define ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP 197 #endif // ACADO_TOOLKIT_SIMULATED_REFERENCE_TRAJECTORY_HPP virtual ~SimulatedReferenceTrajectory()
SimulatedReferenceTrajectory()
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
#define CLOSE_NAMESPACE_ACADO
virtual uint getDim() const
static const DVector emptyConstVector
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.
#define BEGIN_NAMESPACE_ACADO
virtual ReferenceTrajectory * clone() const
static const VariablesGrid emptyConstVariablesGrid