model_container.hpp

Go to the documentation of this file.

/*
 *    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_MODELCONTAINER_HPP
#define ACADO_TOOLKIT_MODELCONTAINER_HPP

#include <acado/ocp/model_data.hpp>


BEGIN_NAMESPACE_ACADO


class ModelContainer {


//
// PUBLIC MEMBER FUNCTIONS:
//
public:


    ModelContainer( );


    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 setModel( const DifferentialEquation& _f );


        returnValue setNARXmodel( const uint _delay, const DMatrix& _parms );


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


    returnValue setModel(       const std::string& fileName,
                                                        const std::string& _rhs_ODE,
                                                        const std::string& _diffs_rhs_ODE );


        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     );


    returnValue getIntegrationGrid(  Grid& _grid        ) const;


    returnValue setIntegrationGrid(     const Grid& _ocpGrid,
                                                                        const uint _numSteps    );


    returnValue setupOutput( const DVector& numberMeasurements );


    returnValue getModel( DifferentialEquation& _f ) const;


    BooleanType hasOutputs() const;
    BooleanType hasDifferentialEquation() const;
    BooleanType modelDimensionsSet() const;
    BooleanType hasEquidistantControlGrid               () const;
    BooleanType exportRhs() const;


    uint getNX( ) const;


    uint getNDX( ) const;


    uint getNXA( ) const;

    uint getNU( ) const;

    uint getNP( ) const;

    uint getNOD( ) const;

    uint getN( ) const;

    returnValue setN( const uint N_ );


    returnValue setNU( const uint NU_ );
    returnValue setNP( const uint NP_ );
    returnValue setNOD( const uint NOD_ );


    DVector getDimOutputs( ) const;


    DVector getNumMeas( ) const;


    ModelData& getModelData( );


    returnValue setModelData( const ModelData& data );


    const std::string getFileNameModel() const;


    //
    // PROTECTED FUNCTIONS:
    //
    protected:


    //
    // DATA MEMBERS:
    //
    protected:

         uint NU;                                                                               
         uint NP;                                                                               
         uint NOD;                                                                              
         ModelData modelData;                   
};


CLOSE_NAMESPACE_ACADO



#endif  // ACADO_TOOLKIT_MODELCONTAINER_HPP

/*
 *   end of file
 */