colored_noise.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include <acado/noise/colored_noise.hpp>



BEGIN_NAMESPACE_ACADO




ColoredNoise::ColoredNoise( ) : Noise( )
{
        dynamicSystem = 0;
}


ColoredNoise::ColoredNoise(     const DynamicSystem& _dynamicSystem
                                                        ) : Noise( )
{
        dynamicSystem = new DynamicSystem( _dynamicSystem );
}


ColoredNoise::ColoredNoise( const ColoredNoise &rhs ) : Noise( rhs )
{
        if( rhs.dynamicSystem != 0 )
                dynamicSystem  = new DynamicSystem( *(rhs.dynamicSystem) );
        else
                dynamicSystem  = 0;
}


ColoredNoise::~ColoredNoise( )
{
        if( dynamicSystem != 0 )
                delete dynamicSystem;
}


ColoredNoise& ColoredNoise::operator=( const ColoredNoise &rhs )
{
        if( this != &rhs )
        {
                if( dynamicSystem != 0 )
                        delete dynamicSystem;

                Noise::operator=( rhs );

                if( rhs.dynamicSystem != 0 )
                        dynamicSystem  = new DynamicSystem( *(rhs.dynamicSystem) );
                else
                        dynamicSystem  = 0;
        }

        return *this;
}


ColoredNoise* ColoredNoise::clone( ) const
{
        return ( new ColoredNoise( *this ) );
}


ColoredNoise* ColoredNoise::clone(      uint idx
                                                                        ) const
{
        if ( idx >= getDim( ) )
                return 0;

        return ( new ColoredNoise( *this ) );
}


returnValue ColoredNoise::setDynamicSystem(     const DynamicSystem& _dynamicSystem
                                                                                        )
{
        if( dynamicSystem != 0 )
                *dynamicSystem = _dynamicSystem;
        else
                dynamicSystem  = new DynamicSystem( _dynamicSystem );

        return SUCCESSFUL_RETURN;
}



returnValue ColoredNoise::init( uint seed
                                                                )
{
        w.setZero( );

        setStatus( BS_READY );
        return SUCCESSFUL_RETURN;
}


returnValue ColoredNoise::step( DVector& _w
                                                                )
{
        return ACADOERROR( RET_NOT_YET_IMPLEMENTED );
}



returnValue ColoredNoise::step( VariablesGrid& _w
                                                                )
{
        return ACADOERROR( RET_NOT_YET_IMPLEMENTED );
}


CLOSE_NAMESPACE_ACADO

// end of file.