60 if ( ( _nOutputs != _nInputs ) && ( _nOutputs != 1 ) )
uint getNumOutputs() const
ControlLaw & operator=(const ControlLaw &rhs)
virtual BooleanType isStatic() const
virtual returnValue step(double currentTime, const DVector &_x, const DVector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
virtual uint getNXA() const
returnValue setStatus(BlockStatus _status)
void init(unsigned _dim=0)
Provides a time grid consisting of vector-valued optimization variables at each grid point...
virtual uint getNX() const
Allows to pass back messages to the calling function.
returnValue setDerivativeWeights(const DVector &_dWeights)
ClippingFunctionality & operator=(const ClippingFunctionality &rhs)
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
returnValue setProportionalWeights(const DVector &_pWeights)
virtual uint getNY() const
returnValue determineControlAction(const DVector &error, DVector &output)
PIDcontroller & operator=(const PIDcontroller &rhs)
virtual uint getNU() const
#define CLOSE_NAMESPACE_ACADO
virtual uint getNP() const
virtual ControlLaw * clone() const
returnValue setIntegralWeights(const DVector &_iWeights)
BlockStatus getStatus() const
Derived & setZero(Index size)
void rhs(const real_t *x, real_t *f)
double getSamplingTime() const
uint getNumPoints() const
Allows to transform the output of the ControlLaw before passing it to the Process.
virtual returnValue init(double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid)
DVector getVector(uint pointIdx) const
uint getNumInputs() const
#define BEGIN_NAMESPACE_ACADO
virtual BooleanType isDynamic() const
USING_NAMESPACE_ACADO void output(const char *name, const Expression &e)
Implements a PID control law to be used within a Controller.
uint getNumValues() const
Base class for interfacing online feedback laws to be used within a Controller.
returnValue clipSignals(VariablesGrid &_u, VariablesGrid &_p=emptyVariablesGrid)
virtual uint getNW() const
#define ACADOERROR(retval)