Stores a DifferentialEquation together with an OutputFcn. More...

#include <dynamic_system.hpp>

Public Member Functions
returnValue	addSubsystem (const DifferentialEquation &_diffEqn)

returnValue	addSubsystem (const DifferentialEquation &_diffEqn, const OutputFcn &_outputFcn)

returnValue	addSwitchFunction (const Function &_switchFcn)

	DynamicSystem ()

	DynamicSystem (const DifferentialEquation &_diffEqn)

	DynamicSystem (const DifferentialEquation &_diffEqn, const OutputFcn &_outputFcn)

	DynamicSystem (const DynamicSystem &rhs)

const DifferentialEquation &	getDifferentialEquation (uint stageIdx=0) const

uint	getNumAlgebraicEquations () const

uint	getNumControls () const

uint	getNumDisturbances () const

uint	getNumDynamicEquations () const

uint	getNumOutputs () const

uint	getNumParameters () const

uint	getNumSubsystems () const

uint	getNumSwitchFunctions () const

const OutputFcn &	getOutputFcn (uint stageIdx=0) const

double	getSampleTime () const

returnValue	getSelectFunction (Function &_selectFcn) const

returnValue	getSubsystem (uint stageIdx, DifferentialEquation &_diffEqn, OutputFcn &_outputFcn) const

returnValue	getSwitchFunction (uint idx, Function &_switchFcn) const

BooleanType	hasImplicitSwitches () const

BooleanType	isContinuous () const

BooleanType	isDAE () const

BooleanType	isDiscretized () const

BooleanType	isODE () const

DynamicSystem &	operator= (const DynamicSystem &rhs)

returnValue	setSelectFunction (const Function &_selectFcn)

	~DynamicSystem ()

Protected Member Functions
BooleanType	isConsistentDiffEqn (const DifferentialEquation &_diffEqn) const

BooleanType	isConsistentOutputFcn (const OutputFcn &_outputFcn) const

Protected Attributes
DifferentialEquation **	diffEqn

uint	nDiffEqn

uint	nSwitchFcn

OutputFcn **	outputFcn

Function *	selectFcn

Function **	switchFcn

Detailed Description

Stores a DifferentialEquation together with an OutputFcn.

The class DynamicSystem is a data class for storing a DifferentialEquation together with an OutputFcn. The dynamic system might be of hybrid nature, i.e. differential equation and output function might switch depending on a state-dependend switch function.

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 57 of file dynamic_system.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO DynamicSystem::DynamicSystem ( )

< Default Constructor.

Definition at line 44 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem ( const DifferentialEquation & _diffEqn )

Constructor which takes differential equation of first stage.

@param[in] _diffEqn         Differential equation.

Definition at line 57 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem	(	const DifferentialEquation &	_diffEqn,
		const OutputFcn &	_outputFcn
	)

Constructor which takes differential equation and output function of first stage.

Parameters

[in]	_diffEqn	Differential equation.
[in]	_outputFcn	Output function.

Definition at line 76 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem ( const DynamicSystem & rhs )

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 94 of file dynamic_system.cpp.

DynamicSystem::~DynamicSystem ( )

Destructor.Assignment Operator (deep copy).

Parameters

[in] rhs Right-hand side object.

Definition at line 136 of file dynamic_system.cpp.

Member Function Documentation

returnValue DynamicSystem::addSubsystem ( const DifferentialEquation & _diffEqn )

Adds a new dynamic system stage comprising the given differential equation.

@param[in] _diffEqn         Differential equation.

\return RET_NOT_YET_IMPLEMENTED, \n
        RET_INVALID_ARGUMENTS

Definition at line 237 of file dynamic_system.cpp.

returnValue DynamicSystem::addSubsystem	(	const DifferentialEquation &	_diffEqn,
		const OutputFcn &	_outputFcn
	)

Adds a new dynamic system stage comprising the given differential equation and output function.

Parameters

[in]	_diffEqn	Differential equation.
[in]	_outputFcn	Output function.

Returns: RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

Definition at line 244 of file dynamic_system.cpp.

returnValue DynamicSystem::addSwitchFunction ( const Function & _switchFcn )

(not yet documented)

@param[in] _switchFcn               .

\return RET_NOT_YET_IMPLEMENTED

Definition at line 268 of file dynamic_system.cpp.

const DifferentialEquation& DynamicSystem::getDifferentialEquation ( uint stageIdx = 0 ) const

inline

Returns differential equation at given stage.

@param[in]  stageIdx        Index of stage.

\return Differential equation at given stage

uint DynamicSystem::getNumAlgebraicEquations ( ) const

inline

Returns number of algebraic equations of the dynamic system.

Returns: Number of algebraic equations

uint DynamicSystem::getNumControls ( ) const

inline

Returns maximum number of controls of the dynamic system.

Returns: Maximum number of controls

uint DynamicSystem::getNumDisturbances ( ) const

inline

Returns maximum number of disturbances of the dynamic system.

Returns: Maximum number of disturbances

uint DynamicSystem::getNumDynamicEquations ( ) const

inline

Returns number of dynamic equations of the dynamic system.

Returns: Number of dynamic equations

uint DynamicSystem::getNumOutputs ( ) const

inline

Returns number of outputs of the dynamic system.

Returns: Number of outputs equations

uint DynamicSystem::getNumParameters ( ) const

inline

Returns maximum number of parameters of the dynamic system.

Returns: Maximum number of parameters

uint DynamicSystem::getNumSubsystems ( ) const

inline

Returns number of subsystems (i.e. stages) of the dynamic system.

Returns: Number of subsystems of the dynamic system

uint DynamicSystem::getNumSwitchFunctions ( ) const

inline

Returns number of switch functions of the dynamic system.

Returns: Number of switch functions of the dynamic system

const OutputFcn& DynamicSystem::getOutputFcn ( uint stageIdx = 0 ) const

inline

Returns output function at given stage.

@param[in]  stageIdx        Index of stage.

\return Output function at given stage

double DynamicSystem::getSampleTime ( ) const

inline

Returns sample time of the dynamic system.

\return    > 0: sample time of discretized system, \n
        -INFTY: system is time-continuous

returnValue DynamicSystem::getSelectFunction ( Function & _selectFcn ) const

inline

(not yet documented)

@param[in] _selectFcn               .

\return RET_NOT_YET_IMPLEMENTED

returnValue DynamicSystem::getSubsystem	(	uint	stageIdx,
		DifferentialEquation &	_diffEqn,
		OutputFcn &	_outputFcn
	)		const

inline

Returns dynamic subsystem at given stage.

@param[in]  stageIdx                Index of stage.
@param[out] _diffEqn                Differential equation at given stage.
@param[out] _outputFcn              Output function at given stage.

\return SUCCESSFUL_RETURN

returnValue DynamicSystem::getSwitchFunction	(	uint	idx,
		Function &	_switchFcn
	)		const

inline

(not yet documented)

@param[in] _switchFcn               .

\return RET_NOT_YET_IMPLEMENTED

BooleanType DynamicSystem::hasImplicitSwitches ( ) const

inline

Returns whether dynamic system has implicit switches.

\return BT_TRUE  iff dynamic system has implicit switches, \n
        BT_FALSE otherwise

BooleanType DynamicSystem::isConsistentDiffEqn ( const DifferentialEquation & _diffEqn ) const

protected

Returns whether given differential equation is consistent with the existing ones at other stages.

Parameters

[in] _diffEqn Differential equation.

Returns: BT_TRUE iff differential equation is consistent,
BT_FALSE otherwise

Definition at line 300 of file dynamic_system.cpp.

BooleanType DynamicSystem::isConsistentOutputFcn ( const OutputFcn & _outputFcn ) const

protected

Returns whether given output function is consistent with the corresponding differential equation and existing output functions at other stages.

Parameters

[in] _outputFcn Output function.

Returns: BT_TRUE iff output function is consistent,
BT_FALSE otherwise

Definition at line 319 of file dynamic_system.cpp.

BooleanType DynamicSystem::isContinuous ( ) const

inline

Returns whether dynamic system is continuous in time.

Returns: BT_TRUE iff dynamic system is continuous in time,
BT_FALSE otherwise

BooleanType DynamicSystem::isDAE ( ) const

inline

Returns whether dynamic system is a DAE.

Returns: BT_TRUE iff dynamic system is a DAE,
BT_FALSE otherwise

BooleanType DynamicSystem::isDiscretized ( ) const

inline

Returns whether dynamic system is discretized in time.

Returns: BT_TRUE iff dynamic system is discretized in time,
BT_FALSE otherwise

BooleanType DynamicSystem::isODE ( ) const

inline

Returns whether dynamic system is an ODE.

Returns: BT_TRUE iff dynamic system is an ODE,
BT_FALSE otherwise

DynamicSystem & DynamicSystem::operator= ( const DynamicSystem & rhs )

Definition at line 164 of file dynamic_system.cpp.

returnValue DynamicSystem::setSelectFunction ( const Function & _selectFcn )

(not yet documented)

@param[in] _selectFcn               .

\return RET_NOT_YET_IMPLEMENTED

Definition at line 282 of file dynamic_system.cpp.

Member Data Documentation

DifferentialEquation** DynamicSystem::diffEqn

protected

Differential equation(s) describing the states of the dynamic system.

Definition at line 331 of file dynamic_system.hpp.

uint DynamicSystem::nDiffEqn

protected

Number of differential equations.

Definition at line 328 of file dynamic_system.hpp.

uint DynamicSystem::nSwitchFcn

protected

Number of switch functions.

Definition at line 329 of file dynamic_system.hpp.

OutputFcn** DynamicSystem::outputFcn

protected

Output function(s) for evaluating the output of the dynamic system.

Definition at line 332 of file dynamic_system.hpp.

Function* DynamicSystem::selectFcn

protected

Function for selecting the current differential equation based on the values of the switch function(s).

Definition at line 335 of file dynamic_system.hpp.

Function** DynamicSystem::switchFcn

protected

Function(s) for determining switches between different differential equations.

Definition at line 334 of file dynamic_system.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation