User-interface to formulate and solve model predictive control problems. More...

#include <real_time_algorithm.hpp>

Inheritance diagram for RealTimeAlgorithm:

[legend]

Public Member Functions
virtual ControlLaw *	clone () const

virtual returnValue	feedbackStep (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual double	getLengthControlHorizon () const

virtual double	getLengthPredictionHorizon () const

virtual uint	getNP () const

virtual uint	getNU () const

virtual uint	getNW () const

virtual uint	getNX () const

virtual uint	getNXA () const

virtual uint	getNY () const

virtual returnValue	init ()

virtual returnValue	init (double startTime, const DVector &_x=emptyConstVector, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual returnValue	initializeAlgebraicStates (const VariablesGrid &_xa_init)

virtual returnValue	initializeAlgebraicStates (const char *fileName)

virtual returnValue	initializeControls (const VariablesGrid &_u_init)

virtual returnValue	initializeControls (const char *fileName)

virtual BooleanType	isDynamic () const

virtual BooleanType	isInRealTimeMode () const

virtual BooleanType	isStatic () const

RealTimeAlgorithm &	operator= (const RealTimeAlgorithm &rhs)

virtual returnValue	preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid)

	RealTimeAlgorithm ()

	RealTimeAlgorithm (const OCP &ocp_, double _samplingTime=DEFAULT_SAMPLING_TIME)

	RealTimeAlgorithm (const RealTimeAlgorithm &rhs)

virtual returnValue	setReference (const VariablesGrid &ref)

virtual returnValue	shift (double timeShift=-1.0)

virtual returnValue	solve (double startTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual returnValue	step (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual	~RealTimeAlgorithm ()

Public Member Functions inherited from OptimizationAlgorithmBase
returnValue	getAlgebraicStates (VariablesGrid &xa_) const

returnValue	getAlgebraicStates (const char *fileName) const

returnValue	getControls (VariablesGrid &p_) const

returnValue	getControls (const char *fileName) const

returnValue	getDifferentialStates (VariablesGrid &xd_) const

returnValue	getDifferentialStates (const char *fileName) const

returnValue	getDisturbances (VariablesGrid &w_) const

returnValue	getDisturbances (const char *fileName) const

double	getEndTime () const

double	getObjectiveValue (const char *fileName) const

double	getObjectiveValue () const

returnValue	getParameters (VariablesGrid &u_) const

returnValue	getParameters (DVector &u_) const

returnValue	getParameters (const char *fileName) const

returnValue	getSensitivitiesP (BlockMatrix &_sens) const

returnValue	getSensitivitiesU (BlockMatrix &_sens) const

returnValue	getSensitivitiesW (BlockMatrix &_sens) const

returnValue	getSensitivitiesX (BlockMatrix &_sens) const

returnValue	getSensitivitiesXA (BlockMatrix &_sens) const

double	getStartTime () const

returnValue	initializeAlgebraicStates (const char *fileName, BooleanType autoinit=BT_FALSE)

returnValue	initializeAlgebraicStates (const VariablesGrid &xa_init_, BooleanType autoinit=BT_FALSE)

returnValue	initializeControls (const char *fileName)

returnValue	initializeControls (const VariablesGrid &p_init_)

returnValue	initializeDifferentialStates (const char *fileName, BooleanType autoinit=BT_FALSE)

returnValue	initializeDifferentialStates (const VariablesGrid &xd_init_, BooleanType autoinit=BT_FALSE)

returnValue	initializeDisturbances (const char *fileName)

returnValue	initializeDisturbances (const VariablesGrid &w_init_)

returnValue	initializeParameters (const char *fileName)

returnValue	initializeParameters (const VariablesGrid &u_init_)

OptimizationAlgorithmBase &	operator= (const OptimizationAlgorithmBase &arg)

	OptimizationAlgorithmBase ()

	OptimizationAlgorithmBase (const OCP &ocp_)

	OptimizationAlgorithmBase (const OptimizationAlgorithmBase &arg)

returnValue	simulateStatesForInitialization ()

virtual	~OptimizationAlgorithmBase ()

Public Member Functions inherited from ControlLaw
	ControlLaw ()

	ControlLaw (double _samplingTime)

	ControlLaw (const ControlLaw &rhs)

returnValue	getP (DVector &_p) const

returnValue	getU (DVector &_u) const

ControlLaw &	operator= (const ControlLaw &rhs)

virtual returnValue	step (const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)

virtual	~ControlLaw ()

Public Member Functions inherited from SimulationBlock
BlockName	getName () const

double	getSamplingTime () const

BooleanType	isDefined () const

SimulationBlock &	operator= (const SimulationBlock &rhs)

returnValue	setName (BlockName _name)

returnValue	setSamplingTime (double _samplingTime)

	SimulationBlock ()

	SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)

	SimulationBlock (const SimulationBlock &rhs)

virtual	~SimulationBlock ()

Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)

virtual int	operator<< (PlotWindow &_window)

virtual int	operator<< (LogRecord &_record)

UserInteraction &	operator= (const UserInteraction &rhs)

	UserInteraction ()

	UserInteraction (const UserInteraction &rhs)

virtual	~UserInteraction ()

Public Member Functions inherited from Options
returnValue	addOptionsList ()

returnValue	ensureConsistency ()

returnValue	ensureConsistency ()

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	get (uint idx, OptionsName name, std::string &value) const

uint	getNumOptionsLists () const

Options	getOptions (uint idx) const

Options &	operator= (const Options &rhs)

Options &	operator= (const Options &rhs)

	Options ()

	Options ()

	Options (const Options &rhs)

	Options (const Options &rhs)

	Options ()

	Options (const OptionsList &_optionsList)

returnValue	print () const

returnValue	print () const

returnValue	printOptionsList () const

returnValue	printOptionsList (uint idx) const

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	set (uint idx, OptionsName name, const std::string &value)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

returnValue	setToDefault ()

returnValue	setToDefault ()

returnValue	setToFast ()

returnValue	setToFast ()

returnValue	setToMPC ()

returnValue	setToReliable ()

returnValue	setToReliable ()

	~Options ()

	~Options ()

virtual	~Options ()

Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

returnValue	getLogRecord (LogRecord &_record) const

uint	getNumLogRecords () const

	Logging ()

int	operator<< (LogRecord &record)

returnValue	printLoggingInfo () const

returnValue	printNumDoubles () const

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)

returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)

returnValue	updateLogRecord (LogRecord &_record) const

virtual	~Logging ()

Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)

uint	getNumPlotWindows () const

returnValue	getPlotWindow (uint idx, PlotWindow &_window) const

returnValue	getPlotWindow (PlotWindow &_window) const

int	operator<< (PlotWindow &_window)

Plotting &	operator= (const Plotting &rhs)

virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

	Plotting ()

	Plotting (const Plotting &rhs)

virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

virtual	~Plotting ()

Protected Member Functions
virtual returnValue	allocateNlpSolver (Objective F, DynamicDiscretization G, Constraint *H)

returnValue	clear ()

virtual returnValue	initializeNlpSolver (const OCPiterate &userInit)

virtual returnValue	initializeObjective (Objective *F)

returnValue	performFeedbackStep (double currentTime, const DVector &_x, const DVector &_p=emptyConstVector)

returnValue	performPreparationStep (const VariablesGrid &_yRef=emptyConstVariablesGrid, BooleanType isLastIteration=BT_TRUE)

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

Protected Member Functions inherited from OptimizationAlgorithmBase
returnValue	clear ()

virtual returnValue	determineDimensions (Objective const _objective, DifferentialEquation const _differentialEquation, Constraint const _constraint, uint &_nx, uint &_nxa, uint &_np, uint &_nu, uint &_nw) const

virtual returnValue	extractOCPdata (Objective objective, DifferentialEquation differentialEquation, Constraint *constraint, Grid &unionGrid)

returnValue	init (UserInteraction *_userIteraction)

virtual returnValue	initializeOCPiterate (Constraint *const _constraint, const Grid &_unionGrid, uint nx, uint nxa, uint np, uint nu, uint nw)

BooleanType	isLinearQuadratic (Objective F, DynamicDiscretization G, Constraint *H) const

virtual returnValue	setupDifferentialEquation (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)

virtual returnValue	setupDynamicDiscretization (UserInteraction _userIteraction, Objective objective, DifferentialEquation *differentialEquation, Constraint constraint, Grid unionGrid, DynamicDiscretization **dynamicDiscretization)

virtual returnValue	setupObjective (Objective objective, DifferentialEquation differentialEquation, Constraint constraint, Grid unionGrid)

Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const

BlockStatus	getStatus () const

returnValue	setStatus (BlockStatus _status)

Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (OptionsName name, const std::string &value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, const std::string &value)

returnValue	clearOptionsList ()

returnValue	copy (const Options &rhs)

returnValue	copy (const Options &rhs)

returnValue	declareOptionsUnchanged ()

returnValue	declareOptionsUnchanged (uint idx)

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

Protected Attributes
DVector *	p0

VariablesGrid *	reference

DVector *	x0

Protected Attributes inherited from OptimizationAlgorithmBase
OCPiterate	iter

NLPsolver *	nlpSolver

OCP *	ocp

OCPiterate	userInit

Protected Attributes inherited from ControlLaw
DVector	p

DVector	u

Protected Attributes inherited from SimulationBlock
BlockName	name

RealClock	realClock

double	samplingTime

Protected Attributes inherited from UserInteraction
BlockStatus	status

Protected Attributes inherited from Options
std::vector< OptionsList >	lists

Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection

int	logIdx

Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation

real_t	boundTolerance

int	dropBoundPriority

int_t	dropBoundPriority

int	dropEqConPriority

int_t	dropEqConPriority

int	dropIneqConPriority

int_t	dropIneqConPriority

int	enableCholeskyRefactorisation

int_t	enableCholeskyRefactorisation

int	enableDriftCorrection

int_t	enableDriftCorrection

BooleanType	enableDropInfeasibles

BooleanType	enableEqualities

BooleanType	enableFarBounds

BooleanType	enableFlippingBounds

BooleanType	enableFullLITests

BooleanType	enableInertiaCorrection

BooleanType	enableNZCTests

BooleanType	enableRamping

BooleanType	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

SubjectToStatus	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int	numRefinementSteps

int_t	numRefinementSteps

int	numRegularisationSteps

int_t	numRegularisationSteps

PrintLevel	printLevel

real_t	rcondSMin

real_t	terminationTolerance

Detailed Description

User-interface to formulate and solve model predictive control problems.

The class RealTimeAlgorithm serves as a user-interface to formulate and solve model predictive control problems.

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 56 of file real_time_algorithm.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO RealTimeAlgorithm::RealTimeAlgorithm ( )

Default constructor.

Definition at line 50 of file real_time_algorithm.cpp.

RealTimeAlgorithm::RealTimeAlgorithm	(	const OCP &	ocp_,
		double	_samplingTime = `DEFAULT_SAMPLING_TIME`
	)

Constructor which takes the optimal control problem to be solved online together with the sampling time.

Parameters

[in]	ocp_	Optimal control problem to be solved online.
[in]	_samplingTime	Sampling time.

Definition at line 69 of file real_time_algorithm.cpp.

RealTimeAlgorithm::RealTimeAlgorithm ( const RealTimeAlgorithm & rhs )

Copy constructor (deep copy).

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

Definition at line 91 of file real_time_algorithm.cpp.

RealTimeAlgorithm::~RealTimeAlgorithm ( )

virtual

Destructor.

Definition at line 104 of file real_time_algorithm.cpp.

Member Function Documentation

returnValue RealTimeAlgorithm::allocateNlpSolver	(	Objective *	F,
		DynamicDiscretization *	G,
		Constraint *	H
	)

protectedvirtual

(not yet documented).

@param[in]  .               .

Returns: SUCCESSFUL_RETURN

Implements OptimizationAlgorithmBase.

Definition at line 576 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::clear ( )

protected

Frees memory of all members of the real time parameters.

Returns: SUCCESSFUL_RETURN

Definition at line 551 of file real_time_algorithm.cpp.

ControlLaw * RealTimeAlgorithm::clone ( ) const

virtual

Clone constructor (deep copy).

\return Pointer to deep copy of base class type

Implements ControlLaw.

Definition at line 133 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::feedbackStep	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next feedback step of the control law based on given inputs.

@param[in]  currentTime     Current time.
@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[in]  _yRef           Current piece of reference trajectory (if not specified during previous preparationStep).

\note If a non-empty reference trajectory is provided, this one is used
      instead of the possibly set-up build-in one.

Returns: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

Definition at line 251 of file real_time_algorithm.cpp.

double RealTimeAlgorithm::getLengthControlHorizon ( ) const

virtual

Returns length of the control horizon (for the case a predictive control law is used).

Returns: Length of the control horizon

Reimplemented from ControlLaw.

Definition at line 442 of file real_time_algorithm.cpp.

double RealTimeAlgorithm::getLengthPredictionHorizon ( ) const

virtual

Returns length of the prediction horizon (for the case a predictive control law is used).

Returns: Length of the prediction horizon

Reimplemented from ControlLaw.

Definition at line 436 of file real_time_algorithm.cpp.

uint RealTimeAlgorithm::getNP ( ) const

virtual

Returns number of parameters.

Returns: Number of parameters

Reimplemented from ControlLaw.

Definition at line 418 of file real_time_algorithm.cpp.

uint RealTimeAlgorithm::getNU ( ) const

virtual

Returns number of controls.

Returns: Number of controls

Reimplemented from ControlLaw.

Definition at line 413 of file real_time_algorithm.cpp.

uint RealTimeAlgorithm::getNW ( ) const

virtual

Returns number of (estimated) disturbances.

Returns: Number of (estimated) disturbances

Reimplemented from ControlLaw.

Definition at line 423 of file real_time_algorithm.cpp.

uint RealTimeAlgorithm::getNX ( ) const

virtual

Returns number of (estimated) differential states.

Returns: Number of (estimated) differential states

Reimplemented from ControlLaw.

Definition at line 403 of file real_time_algorithm.cpp.

uint RealTimeAlgorithm::getNXA ( ) const

virtual

Returns number of (estimated) algebraic states.

Returns: Number of (estimated) algebraic states

Reimplemented from ControlLaw.

Definition at line 408 of file real_time_algorithm.cpp.

uint RealTimeAlgorithm::getNY ( ) const

virtual

Returns number of process outputs.

Returns: Number of process outputs

Reimplemented from ControlLaw.

Definition at line 429 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::init ( )

virtual

Initializes the (internal) optimization algorithm part of the RealTimeAlgorithm.

Returns: SUCCESSFUL_RETURN,
RET_OPTALG_INIT_FAILED

Definition at line 169 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::init	(	double	startTime,
		const DVector &	_x = `emptyConstVector`,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Initializes the control law with given start values and performs a number of consistency checks.

Parameters

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_p	Initial value for parameters.
[in]	_yRef	Initial value for reference trajectory.

Returns: SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 183 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::initializeAlgebraicStates ( const VariablesGrid & _xa_init )

virtual

Initializes algebraic states of the control law.

@param[in]  _xa_init        Initial value for algebraic states.

Returns: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

Definition at line 140 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::initializeAlgebraicStates ( const char * fileName )

virtual

Initializes algebraic states of the control law from data file.

@param[in]  fileName        Name of file containing initial value for algebraic states.

Returns: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Reimplemented from ControlLaw.

Definition at line 147 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::initializeControls ( const VariablesGrid & _u_init )

virtual

Initializes controls of the control law.

@param[in]  _u_init Initial value for controls.

Returns: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

Definition at line 154 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::initializeControls ( const char * fileName )

virtual

Initializes controls of the control law from data file.

@param[in]  fileName        Name of file containing initial value for controls.

Returns: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Reimplemented from ControlLaw.

Definition at line 161 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::initializeNlpSolver ( const OCPiterate & userInit )

protectedvirtual

(not yet documented).

@param[in]  .               .

Returns: SUCCESSFUL_RETURN

Implements OptimizationAlgorithmBase.

Definition at line 587 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::initializeObjective ( Objective * F )

protectedvirtual

(not yet documented).

@param[in]  .               .

Returns: SUCCESSFUL_RETURN

Implements OptimizationAlgorithmBase.

Definition at line 603 of file real_time_algorithm.cpp.

BooleanType RealTimeAlgorithm::isDynamic ( ) const

virtual

Returns whether the control law is based on dynamic optimization or a static one.

Returns: BT_TRUE iff control law is based on dynamic optimization,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 449 of file real_time_algorithm.cpp.

BooleanType RealTimeAlgorithm::isInRealTimeMode ( ) const

virtual

Returns whether the control law is working in real-time mode.

Returns: BT_TRUE iff control law is working in real-time mode,
BT_FALSE otherwise

Reimplemented from ControlLaw.

Definition at line 464 of file real_time_algorithm.cpp.

BooleanType RealTimeAlgorithm::isStatic ( ) const

virtual

Returns whether the control law is a static one or based on dynamic optimization.

Returns: BT_TRUE iff control law is a static one,
BT_FALSE otherwise

Implements ControlLaw.

Definition at line 455 of file real_time_algorithm.cpp.

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

Assignment operator (deep copy).

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

Definition at line 111 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::performFeedbackStep	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`
	)

protected

(not yet documented).

@param[in]  .               .

Returns: SUCCESSFUL_RETURN

Definition at line 618 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::performPreparationStep	(	const VariablesGrid &	_yRef = `emptyConstVariablesGrid`,
		BooleanType	isLastIteration = `BT_TRUE`
	)

protected

(not yet documented).

@param[in]  .               .

Returns: SUCCESSFUL_RETURN

Definition at line 648 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::preparationStep	(	double	nextTime = `0.0`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next preparation step of the control law based on given inputs.

@param[in]  nextTime        Time at next step.
@param[in]  _yRef           Piece of reference trajectory for next step (required for hotstarting).

Returns: SUCCESSFUL_RETURN

Reimplemented from ControlLaw.

Definition at line 318 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::setReference ( const VariablesGrid & ref )

virtual

Assigns new reference trajectory for the next real-time step.

@param[in]  ref             Current piece of new reference trajectory.

\return SUCCESSFUL_RETURN, \n
        RET_REFERENCE_SHIFTING_WORKS_FOR_LSQ_TERMS_ONLY, \n
        RET_MEMBER_NOT_INITIALISED

Definition at line 391 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::setupLogging ( )

protectedvirtual

Sets-up default logging information.

Returns: SUCCESSFUL_RETURN

Reimplemented from Logging.

Definition at line 539 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::setupOptions ( )

protectedvirtual

Sets-up default options.

Returns: SUCCESSFUL_RETURN

Reimplemented from Options.

Definition at line 484 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::shift ( double timeShift = -1.0 )

virtual

Shifts the data for preparating the next real-time step.

\return RET_NOT_YET_IMPLEMENTED

Reimplemented from ControlLaw.

Definition at line 379 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::solve	(	double	startTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

(not yet documented).

@param[in]  .               .

Returns: SUCCESSFUL_RETURN

Definition at line 331 of file real_time_algorithm.cpp.

returnValue RealTimeAlgorithm::step	(	double	currentTime,
		const DVector &	_x,
		const DVector &	_p = `emptyConstVector`,
		const VariablesGrid &	_yRef = `emptyConstVariablesGrid`
	)

virtual

Performs next step of the control law based on given inputs.

@param[in]  currentTime     Current time.
@param[in]  _x                      Most recent value for differential states.
@param[in]  _p                      Most recent value for parameters.
@param[in]  _yRef           Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting).

Returns: SUCCESSFUL_RETURN

Implements ControlLaw.

Definition at line 235 of file real_time_algorithm.cpp.

Member Data Documentation

DVector* RealTimeAlgorithm::p0

protected

Deep copy of the most recent parameter.

Definition at line 398 of file real_time_algorithm.hpp.

VariablesGrid* RealTimeAlgorithm::reference

protected

Deep copy of the most recent reference.

Definition at line 400 of file real_time_algorithm.hpp.

DVector* RealTimeAlgorithm::x0

protected

Deep copy of the most recent initial value of differential states.

Definition at line 397 of file real_time_algorithm.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation