Container class to store and pass data to the ModelData class. More...

#include <model_container.hpp>

Inheritance diagram for ModelContainer:

Public Member Functions
uint	addOutput (const OutputFcn &outputEquation_, const DVector &measurements)
uint	addOutput (const OutputFcn &outputEquation_, const uint numberMeasurements)
uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const DVector &measurements)
uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const uint numberMeasurements)
uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const DVector &measurements, const std::string &colInd, const std::string &rowPtr)
uint	addOutput (const std::string &output, const std::string &diffs_output, const uint dim, const uint numberMeasurements, const std::string &colInd, const std::string &rowPtr)
BooleanType	exportRhs () const
DVector	getDimOutputs () const
const std::string	getFileNameModel () const
returnValue	getModel (DifferentialEquation &_f) const
ModelData &	getModelData ()
uint	getN () const
uint	getNDX () const
uint	getNOD () const
uint	getNP () const
uint	getNU () const
DVector	getNumMeas () const
uint	getNX () const
uint	getNXA () const
BooleanType	hasDifferentialEquation () const
BooleanType	hasEquidistantControlGrid () const
BooleanType	hasOutputs () const
	ModelContainer ()
BooleanType	modelDimensionsSet () const
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NDX3, uint _NXA, uint _NXA3, uint _NU, uint _NOD, uint _NP)
returnValue	setDimensions (uint _NX1, uint _NX2, uint _NX3, uint _NDX, uint _NXA, uint _NU, uint _NOD, uint _NP)
returnValue	setDimensions (uint _NX, uint _NDX, uint _NXA, uint _NU, uint _NOD, uint _NP)
returnValue	setDimensions (uint _NX, uint _NU, uint _NOD, uint _NP)
returnValue	setIntegrationGrid (const Grid &_ocpGrid, const uint _numSteps)
returnValue	setLinearInput (const DMatrix &A1_, const DMatrix &B1_)
returnValue	setLinearInput (const DMatrix &M1_, const DMatrix &A1_, const DMatrix &B1_)
returnValue	setLinearOutput (const DMatrix &A3_, const OutputFcn &rhs_)
returnValue	setLinearOutput (const DMatrix &M3_, const DMatrix &A3_, const OutputFcn &rhs_)
returnValue	setLinearOutput (const DMatrix &A3_, const std::string &_rhs3, const std::string &_diffs_rhs3)
returnValue	setLinearOutput (const DMatrix &M3_, const DMatrix &A3_, const std::string &_rhs3, const std::string &_diffs_rhs3)
returnValue	setModel (const DifferentialEquation &_f)
returnValue	setModel (const std::string &fileName, const std::string &_rhs_ODE, const std::string &_diffs_rhs_ODE)
returnValue	setModelData (const ModelData &data)
returnValue	setN (const uint N_)
returnValue	setNARXmodel (const uint _delay, const DMatrix &_parms)
returnValue	setupOutput (const DVector &numberMeasurements)
Protected Attributes
ModelData	modelData

Detailed Description

Container class to store and pass data to the ModelData class.

TODO: Rien

Author:: Rien Quirynen

Definition at line 52 of file model_container.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO ModelContainer::ModelContainer ( )

Default constructor.

Definition at line 45 of file model_container.cpp.

Member Function Documentation

uint ModelContainer::addOutput	(	const OutputFcn &	outputEquation_,
		const DVector &	measurements
	)

Adds an output function.

Parameters:

outputEquation_	an output function to be added
measurements	the measurement points per interval

Returns:: SUCCESSFUL_RETURN

Definition at line 122 of file model_container.cpp.

uint ModelContainer::addOutput	(	const OutputFcn &	outputEquation_,
		const uint	numberMeasurements
	)

Adds an output function.

Parameters:

outputEquation_	an output function to be added
numberMeasurements	the number of measurements per interval

Returns:: SUCCESSFUL_RETURN

Definition at line 130 of file model_container.cpp.

uint ModelContainer::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const DVector &	measurements
	)

Adds an output function.

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement points per interval

Returns:: SUCCESSFUL_RETURN

Definition at line 136 of file model_container.cpp.

uint ModelContainer::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const uint	numberMeasurements
	)

Adds an output function.

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
numberMeasurements	The number of measurements per interval

Returns:: SUCCESSFUL_RETURN

Definition at line 144 of file model_container.cpp.

uint ModelContainer::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const DVector &	measurements,
		const std::string &	colInd,
		const std::string &	rowPtr
	)

Adds an output function.

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
measurements	The measurement points per interval
colInd	DVector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	DVector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:: SUCCESSFUL_RETURN

Definition at line 150 of file model_container.cpp.

uint ModelContainer::addOutput	(	const std::string &	output,
		const std::string &	diffs_output,
		const uint	dim,
		const uint	numberMeasurements,
		const std::string &	colInd,
		const std::string &	rowPtr
	)

Adds an output function.

Parameters:

output	The output function to be added.
diffs_output	The derivatives of the output function to be added.
dim	The dimension of the output function.
numberMeasurements	The number of measurements per interval
colInd	DVector stores the column indices of the elements for Compressed Row Storage (CRS).
rowPtr	DVector stores the locations that start a row for Compressed Row Storage (CRS).

Returns:: SUCCESSFUL_RETURN

Definition at line 159 of file model_container.cpp.

BooleanType ModelContainer::exportRhs ( ) const

Definition at line 208 of file model_container.cpp.

DVector ModelContainer::getDimOutputs ( ) const

Returns the dimensions of the different output functions.

Returns:: dimensions of the different output functions.

Definition at line 262 of file model_container.cpp.

const std::string ModelContainer::getFileNameModel ( ) const

Definition at line 274 of file model_container.cpp.

returnValue ModelContainer::getModel ( DifferentialEquation & _f ) const

Returns the differential equations in the model.

Returns:: SUCCESSFUL_RETURN

Definition at line 171 of file model_container.cpp.

ModelData & ModelContainer::getModelData ( )

Returns the model data object.

Returns:: the model data object.

Definition at line 280 of file model_container.cpp.

uint ModelContainer::getN ( ) const

Returns number of control intervals.

Returns:: Number of control intervals

Definition at line 249 of file model_container.cpp.

uint ModelContainer::getNDX ( ) const

Returns number of differential state derivatives.

Returns:: Number of differential state derivatives

Definition at line 220 of file model_container.cpp.

uint ModelContainer::getNOD ( ) const

Returns number of "online data" values.

Definition at line 243 of file model_container.cpp.

uint ModelContainer::getNP ( ) const

Returns number of parameters.

Returns:: Number of parameters

Definition at line 238 of file model_container.cpp.

uint ModelContainer::getNU ( ) const

Returns number of control inputs.

Returns:: Number of control inputs

Definition at line 232 of file model_container.cpp.

DVector ModelContainer::getNumMeas ( ) const

Returns the number of measurements for the different output functions.

Returns:: number of measurements for the different output functions.

Definition at line 268 of file model_container.cpp.

uint ModelContainer::getNX ( ) const

Returns number of differential states.

Returns:: Number of differential states

Definition at line 214 of file model_container.cpp.

uint ModelContainer::getNXA ( ) const

Returns number of algebraic states.

Returns:: Number of algebraic states

Definition at line 226 of file model_container.cpp.

BooleanType ModelContainer::hasDifferentialEquation ( ) const

Definition at line 187 of file model_container.cpp.

BooleanType ModelContainer::hasEquidistantControlGrid ( ) const

Definition at line 202 of file model_container.cpp.

BooleanType ModelContainer::hasOutputs ( ) const

Definition at line 178 of file model_container.cpp.

BooleanType ModelContainer::modelDimensionsSet ( ) const

Definition at line 196 of file model_container.cpp.

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NDX3,
		uint	_NXA,
		uint	_NXA3,
		uint	_NU,
		uint	_NOD,
		uint	_NP
	)

Assigns the model dimensions to be used by the integrator.

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NDX3	Number of differential states derivatives in the linear output subsystem.
[in]	_NXA	Number of algebraic states.
[in]	_NXA3	Number of algebraic states in the linear output subsystem.
[in]	_NU	Number of control inputs
[in]	_NOD	Number of online data
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

Definition at line 49 of file model_container.cpp.

returnValue ModelContainer::setDimensions	(	uint	_NX1,
		uint	_NX2,
		uint	_NX3,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NOD,
		uint	_NP
	)

Assigns the model dimensions to be used by the integrator.

Parameters:

[in]	_NX1	Number of differential states in linear input subsystem.
[in]	_NX2	Number of differential states in nonlinear subsystem.
[in]	_NX3	Number of differential states in linear output subsystem.
[in]	_NDX	Number of differential states derivatives.
[in]	_NXA	Number of algebraic states.
[in]	_NU	Number of control inputs
[in]	_NOD	Number of online data
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

Definition at line 54 of file model_container.cpp.

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NDX,
		uint	_NXA,
		uint	_NU,
		uint	_NOD,
		uint	_NP
	)

Assigns the model dimensions to be used by the integrator.

Parameters:

[in]	_NX	Number of differential states.
[in]	_NDX	Number of differential states derivatives.
[in]	_NXA	Number of algebraic states.
[in]	_NU	Number of control inputs
[in]	_NOD	Number of online data
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

Definition at line 59 of file model_container.cpp.

returnValue ModelContainer::setDimensions	(	uint	_NX,
		uint	_NU,
		uint	_NOD,
		uint	_NP
	)

Assigns the model dimensions to be used by the integrator.

Parameters:

[in]	_NX	Number of differential states.
[in]	_NU	Number of control inputs
[in]	_NOD	Number of online data
[in]	_NP	Number of parameters

Returns:: SUCCESSFUL_RETURN

Definition at line 64 of file model_container.cpp.

returnValue ModelContainer::setIntegrationGrid	(	const Grid &	_ocpGrid,
		const uint	_numSteps
	)

Sets integration grid.

Parameters:

[in]	_ocpGrid	Evaluation grid for optimal control.
[in]	numSteps	The number of integration steps along the horizon.

Returns:: SUCCESSFUL_RETURN

Definition at line 166 of file model_container.cpp.

returnValue ModelContainer::setLinearInput	(	const DMatrix &	A1_,
		const DMatrix &	B1_
	)

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Definition at line 89 of file model_container.cpp.

returnValue ModelContainer::setLinearInput	(	const DMatrix &	M1_,
		const DMatrix &	A1_,
		const DMatrix &	B1_
	)

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Definition at line 83 of file model_container.cpp.

returnValue ModelContainer::setLinearOutput	(	const DMatrix &	A3_,
		const OutputFcn &	rhs_
	)

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Definition at line 102 of file model_container.cpp.

returnValue ModelContainer::setLinearOutput	(	const DMatrix &	M3_,
		const DMatrix &	A3_,
		const OutputFcn &	rhs_
	)

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Definition at line 96 of file model_container.cpp.

returnValue ModelContainer::setLinearOutput	(	const DMatrix &	A3_,
		const std::string &	_rhs3,
		const std::string &	_diffs_rhs3
	)

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Definition at line 115 of file model_container.cpp.

returnValue ModelContainer::setLinearOutput	(	const DMatrix &	M3_,
		const DMatrix &	A3_,
		const std::string &	_rhs3,
		const std::string &	_diffs_rhs3
	)

Parameters:

[in] .

Returns:: SUCCESSFUL_RETURN

Definition at line 109 of file model_container.cpp.

returnValue ModelContainer::setModel ( const DifferentialEquation & _f )

Assigns Differential Equation to be used by the integrator.

Parameters:

[in] f Differential equation.

Returns:: SUCCESSFUL_RETURN

Definition at line 68 of file model_container.cpp.

returnValue ModelContainer::setModel	(	const std::string &	fileName,
		const std::string &	_rhs_ODE,
		const std::string &	_diffs_rhs_ODE
	)

Assigns the model to be used by the integrator.

Parameters:

[in]	_rhs_ODE	Name of the function, evaluating the ODE right-hand side.
[in]	_diffs_rhs_ODE	Name of the function, evaluating the derivatives of the ODE right-hand side.

Returns:: SUCCESSFUL_RETURN

Definition at line 78 of file model_container.cpp.

returnValue ModelContainer::setModelData ( const ModelData & data )

Sets the model data object.

Parameters:

[in] data the model data object.

Returns:: SUCCESSFUL_RETURN

Definition at line 285 of file model_container.cpp.

returnValue ModelContainer::setN ( const uint N_ )

Sets the number of shooting intervals.

Parameters:

[in] N_ The number of shooting intervals.

Returns:: SUCCESSFUL_RETURN

Definition at line 255 of file model_container.cpp.

returnValue ModelContainer::setNARXmodel	(	const uint	_delay,
		const DMatrix &	_parms
	)

Assigns a polynomial NARX model to be used by the integrator.

Parameters:

[in]	delay	The delay for the states in the NARX model.
[in]	parms	The parameters defining the polynomial NARX model.

Returns:: SUCCESSFUL_RETURN

Definition at line 73 of file model_container.cpp.

returnValue ModelContainer::setupOutput ( const DVector & numberMeasurements )

Sets up the output functions.

Parameters:

numberMeasurements the number of measurements per horizon for each output function

Returns:: SUCCESSFUL_RETURN

Member Data Documentation

ModelData ModelContainer::modelData [protected]

The model data.

Definition at line 415 of file model_container.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation