Public Member Functions

Abstract base class to define a reference trajectory that the ControlLaw aims to track. More...

#include <reference_trajectory.hpp>

Inheritance diagram for ReferenceTrajectory:
Inheritance graph
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List of all members.

Public Member Functions

virtual ReferenceTrajectoryclone () const =0
virtual uint getDim () const =0
virtual returnValue getReference (double tStart, double tEnd, VariablesGrid &_yRef) const =0
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)=0
BooleanType isDefined () const
ReferenceTrajectoryoperator= (const ReferenceTrajectory &rhs)
 ReferenceTrajectory ()
 ReferenceTrajectory (const ReferenceTrajectory &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)=0
virtual returnValue step (const DVector &_x, const VariablesGrid &_u=emptyConstVariablesGrid, const VariablesGrid &_p=emptyConstVariablesGrid, const VariablesGrid &_w=emptyConstVariablesGrid)=0
virtual ~ReferenceTrajectory ()

Detailed Description

Abstract base class to define a reference trajectory that the ControlLaw aims to track.

The class ReferenceTrajectory can be passed to or used within the Controller of the SimulationEnvronment. It serves as an abstract base class to define a reference trajectory that the ControlLaw aims to track while computing its control action.

Author:
Hans Joachim Ferreau, Boris Houska

Definition at line 59 of file reference_trajectory.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 46 of file reference_trajectory.cpp.

Copy constructor (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 51 of file reference_trajectory.cpp.

Destructor.

Definition at line 56 of file reference_trajectory.cpp.


Member Function Documentation

virtual ReferenceTrajectory* ReferenceTrajectory::clone ( ) const [pure virtual]

Clone constructor (deep copy).

Returns:
Pointer to deep copy of base class type

Implemented in PeriodicReferenceTrajectory, StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

virtual uint ReferenceTrajectory::getDim ( ) const [pure virtual]

Returns dimension of reference trajectory.

Returns:
Dimension of reference trajectory

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

virtual returnValue ReferenceTrajectory::getReference ( double  tStart,
double  tEnd,
VariablesGrid _yRef 
) const [pure virtual]

Returns a piece of the reference trajectory starting and ending at given times.

Parameters:
[in]tStartStart time of reference piece.
[in]tEndEnd time of reference piece.
[out]_yRefDesired piece of the reference trajectory.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, AdaptiveReferenceTrajectory, and PeriodicReferenceTrajectory.

virtual returnValue ReferenceTrajectory::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 
) [pure virtual]

Initializes the reference trajectory evaluation based on the given inputs.

Parameters:
[in]_startTimeStart time.
[in]_xInitial value for differential states.
[in]_xaInitial value for algebraic states.
[in]_uInitial value for controls.
[in]_pInitial value for parameters.
[in]_wInitial value for disturbances.
Returns:
SUCCESSFUL_RETURN

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

Returns whether reference trajectory is defined (i.e. has positive dimension).

Returns:
BT_TRUE iff reference trajectory is defined,
BT_FALSE otherwise
ReferenceTrajectory & ReferenceTrajectory::operator= ( const ReferenceTrajectory rhs)

Assignment operator (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 61 of file reference_trajectory.cpp.

virtual returnValue ReferenceTrajectory::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 
) [pure virtual]

Updates the reference trajectory evaluation based on the given inputs.

Parameters:
[in]_currentTimeStart time.
[in]_yCurrent process output.
[in]_xEstimated current value for differential states.
[in]_xaEstimated current value for algebraic states.
[in]_uEstimated current value for controls.
[in]_pEstimated current value for parameters.
[in]_wEstimated current value for disturbances.
Returns:
SUCCESSFUL_RETURN

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.

Updates the reference trajectory evaluation based on the given inputs.

Parameters:
[in]_xEstimated current value for differential states.
[in]_uEstimated current time-varying value for controls.
[in]_pEstimated current time-varying value for parameters.
[in]_wEstimated current time-varying value for disturbances.
Returns:
SUCCESSFUL_RETURN

Implemented in StaticReferenceTrajectory, SimulatedReferenceTrajectory, and AdaptiveReferenceTrajectory.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:25