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	getIntegrationGrid (Grid &_grid) 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	setNOD (const uint NOD_)

returnValue	setNonlinearFeedback (const DMatrix &C_, const OutputFcn &feedb_)

returnValue	setNP (const uint NP_)

returnValue	setNU (const uint NU_)

returnValue	setupOutput (const DVector &numberMeasurements)

Protected Attributes
ModelData	modelData

uint	NOD

uint	NP

uint	NU

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 \return SUCCESSFUL_RETURN

Definition at line 131 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 \return SUCCESSFUL_RETURN

Definition at line 139 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 \return SUCCESSFUL_RETURN

Definition at line 145 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 \return SUCCESSFUL_RETURN

Definition at line 153 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 159 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 168 of file model_container.cpp.

BooleanType ModelContainer::exportRhs ( ) const

Definition at line 222 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 300 of file model_container.cpp.

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

Definition at line 312 of file model_container.cpp.

returnValue ModelContainer::getIntegrationGrid ( Grid & _grid ) const

Gets integration grid.

Parameters

[in] _grid Integration grid.

Returns: SUCCESSFUL_RETURN

Definition at line 175 of file model_container.cpp.

returnValue ModelContainer::getModel ( DifferentialEquation & _f ) const

Returns the differential equations in the model.

Returns: SUCCESSFUL_RETURN

Definition at line 185 of file model_container.cpp.

ModelData & ModelContainer::getModelData ( )

Returns the model data object.

Returns: the model data object.

Definition at line 318 of file model_container.cpp.

uint ModelContainer::getN ( ) const

Returns number of control intervals.

Returns: Number of control intervals

Definition at line 266 of file model_container.cpp.

uint ModelContainer::getNDX ( ) const

Returns number of differential state derivatives.

Returns: Number of differential state derivatives

Definition at line 234 of file model_container.cpp.

uint ModelContainer::getNOD ( ) const

Returns number of "online data" values.

Definition at line 259 of file model_container.cpp.

uint ModelContainer::getNP ( ) const

Returns number of parameters.

Returns: Number of parameters

Definition at line 253 of file model_container.cpp.

uint ModelContainer::getNU ( ) const

Returns number of control inputs.

Returns: Number of control inputs

Definition at line 246 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 306 of file model_container.cpp.

uint ModelContainer::getNX ( ) const

Returns number of differential states.

Returns: Number of differential states

Definition at line 228 of file model_container.cpp.

uint ModelContainer::getNXA ( ) const

Returns number of algebraic states.

Returns: Number of algebraic states

Definition at line 240 of file model_container.cpp.

BooleanType ModelContainer::hasDifferentialEquation ( ) const

Definition at line 201 of file model_container.cpp.

BooleanType ModelContainer::hasEquidistantControlGrid ( ) const

Definition at line 216 of file model_container.cpp.

BooleanType ModelContainer::hasOutputs ( ) const

Definition at line 192 of file model_container.cpp.

BooleanType ModelContainer::modelDimensionsSet ( ) const

Definition at line 210 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 52 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 57 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 62 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 67 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 180 of file model_container.cpp.

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

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 92 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 86 of file model_container.cpp.

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

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 105 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 99 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 118 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 112 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 71 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 81 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 323 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 272 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.

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

    \return SUCCESSFUL_RETURN

Definition at line 76 of file model_container.cpp.

returnValue ModelContainer::setNOD ( const uint NOD_ )

Definition at line 292 of file model_container.cpp.

returnValue ModelContainer::setNonlinearFeedback	(	const DMatrix &	C_,
		const OutputFcn &	feedb_
	)

Parameters

[in] .

Returns: SUCCESSFUL_RETURN

Definition at line 125 of file model_container.cpp.

returnValue ModelContainer::setNP ( const uint NP_ )

Definition at line 285 of file model_container.cpp.

returnValue ModelContainer::setNU ( const uint NU_ )

Definition at line 278 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 442 of file model_container.hpp.

uint ModelContainer::NOD

protected

Number of online data values.

Definition at line 440 of file model_container.hpp.

uint ModelContainer::NP

protected

Number of parameters.

Definition at line 439 of file model_container.hpp.

uint ModelContainer::NU

protected

Number of control inputs.

Definition at line 438 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