controller.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_CONTROLLER_HPP
#define ACADO_TOOLKIT_CONTROLLER_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/simulation_environment/simulation_block.hpp>

#include <acado/matrix_vector/matrix_vector.hpp>

#include <acado/control_law/control_law.hpp>
#include <acado/estimator/estimator.hpp>
#include <acado/reference_trajectory/reference_trajectory.hpp>
#include <acado/reference_trajectory/static_reference_trajectory.hpp>




BEGIN_NAMESPACE_ACADO


class Controller : public SimulationBlock
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:
        Controller( );

        Controller(     ControlLaw& _controlLaw,
                                        Estimator& _estimator,
                                        ReferenceTrajectory& _referenceTrajectory = emptyReferenceTrajectory
                                        );

        Controller(     ControlLaw& _controlLaw,
                                        ReferenceTrajectory& _referenceTrajectory = emptyReferenceTrajectory
                                        );

        Controller(     const Controller& rhs
                                        );

        virtual ~Controller( );

        Controller& operator=(  const Controller& rhs
                                                                );


                returnValue setControlLaw(      ControlLaw& _controlLaw
                                                                        );

                returnValue setEstimator(       Estimator& _estimator
                                                                        );

                returnValue setReferenceTrajectory(     ReferenceTrajectory& _referenceTrajectory
                                                                                        );


                returnValue initializeAlgebraicStates(  const VariablesGrid& _xa_init
                                                                                                );

                returnValue initializeAlgebraicStates(  const char* fileName
                                                                                                );


        virtual returnValue init(       double startTime = 0.0,
                                                                        const DVector& _x0 = emptyConstVector,
                                                                        const DVector& _p  = emptyConstVector,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );


        virtual returnValue step(       double currentTime,
                                                                        const DVector& _y,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );

                virtual returnValue step(       double currentTime,
                                                                        uint dim,
                                                                        const double* const _y,
                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                        );

        virtual returnValue feedbackStep(       double currentTime,
                                                                                        const DVector& _y,
                                                                                        const VariablesGrid& _yRef = emptyConstVariablesGrid
                                                                                        );

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

                virtual returnValue obtainEstimates(    double currentTime,
                                                                                                const DVector& _y,
                                                                                                DVector& xEst,
                                                                                                DVector& pEst
                                                                                                );


        inline returnValue getU(        DVector& _u
                                                                        ) const;

        inline returnValue getP(        DVector& _p
                                                                        ) const;


                inline uint getNY( ) const;

                inline uint getNU( ) const;

                inline uint getNP( ) const;


                inline BooleanType hasDynamicControlLaw( ) const;

                inline BooleanType hasStaticControlLaw( ) const;

                inline BooleanType hasEstimator( ) const;

                inline BooleanType hasReferenceTrajectory( ) const;


                inline double getSamplingTimeControlLaw( );

                inline double getSamplingTimeEstimator( );


                double getNextSamplingInstant(  double currentTime
                                                                                );

                inline double getPreviousRealRuntime( );


                inline returnValue enable( );

                inline returnValue disable( );



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

                virtual returnValue setupOptions( );

                virtual returnValue setupLogging( );


                virtual returnValue getCurrentReference(        double tStart,
                                                                                                        VariablesGrid& _yRef
                                                                                                        ) const;


    //
    // DATA MEMBERS:
    //
    protected:
                
                ControlLaw* controlLaw;                                         
                Estimator* estimator;                                           
                ReferenceTrajectory* referenceTrajectory;       
                BooleanType isEnabled;                                          
                RealClock controlLawClock;                                      
};



CLOSE_NAMESPACE_ACADO



#include <acado/controller/controller.ipp>


#endif  // ACADO_TOOLKIT_CONTROLLER_HPP

/*
 *      end of file
 */