dynamic_estimator.hpp

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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
 *
 */


#ifndef ACADO_TOOLKIT_DYNAMIC_ESTIMATOR_HPP
#define ACADO_TOOLKIT_DYNAMIC_ESTIMATOR_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/estimator/estimator.hpp>
#include <acado/optimization_algorithm/real_time_algorithm.hpp>


BEGIN_NAMESPACE_ACADO


class DynamicEstimator : public Estimator
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:
        DynamicEstimator( );

        DynamicEstimator(       const RealTimeAlgorithm& _realTimeAlgorithm,    
                                                        double _samplingTime = DEFAULT_SAMPLING_TIME
                                                        );

        DynamicEstimator( const DynamicEstimator& rhs );

        virtual ~DynamicEstimator( );

        DynamicEstimator& operator=( const DynamicEstimator& rhs );

                virtual Estimator* clone( ) const;


        virtual returnValue init(       double startTime = 0.0,
                                                                        const DVector &x0_ = emptyConstVector,
                                                                        const DVector &p_  = emptyConstVector
                                                                        );

        virtual returnValue step(       double currentTime,
                                                                        const DVector& _y
                                                                        );


   //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:



    //
    // DATA MEMBERS:
    //
    protected:
                RealTimeAlgorithm* realTimeAlgorithm;   
};


CLOSE_NAMESPACE_ACADO



#include <acado/estimator/dynamic_estimator.ipp>


#endif  // ACADO_TOOLKIT_DYNAMIC_ESTIMATOR_HPP

/*
 *      end of file
 */