33 #ifndef ACADO_TOOLKIT_FEEDFORWARD_LAW_HPP 34 #define ACADO_TOOLKIT_FEEDFORWARD_LAW_HPP 212 #endif // ACADO_TOOLKIT_FEEDFORWARD_LAW_HPP
virtual BooleanType isDynamic() const
virtual uint getNU() const
virtual uint getNX() const
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
FeedforwardLaw & operator=(const FeedforwardLaw &rhs)
#define CLOSE_NAMESPACE_ACADO
virtual uint getNW() const
virtual uint getNY() const
virtual uint getNP() const
virtual returnValue step(double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
static const DVector emptyConstVector
virtual uint getNXA() const
Allows to work with piecewise-continous function defined over a scalar time interval.
void rhs(const real_t *x, real_t *f)
const double DEFAULT_SAMPLING_TIME
virtual ~FeedforwardLaw()
virtual BooleanType isStatic() const
#define BEGIN_NAMESPACE_ACADO
virtual returnValue init(double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
Implements a feedforward law to be used within a Controller.
Base class for interfacing online feedback laws to be used within a Controller.
static const VariablesGrid emptyConstVariablesGrid
virtual ControlLaw * clone() const