33 #ifndef ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP 34 #define ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP 197 #include <acado/reference_trajectory/reference_trajectory.ipp> 205 #endif // ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
Abstract base class to define a reference trajectory that the ControlLaw aims to track.
virtual returnValue init(double startTime=0.0, const DVector &_x=emptyConstVector, const DVector &_xa=emptyConstVector, const DVector &_u=emptyConstVector, const DVector &_p=emptyConstVector, const DVector &_w=emptyConstVector)=0
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
virtual ~ReferenceTrajectory()
#define CLOSE_NAMESPACE_ACADO
ReferenceTrajectory & operator=(const ReferenceTrajectory &rhs)
virtual uint getDim() const =0
BooleanType isDefined() const
static const DVector emptyConstVector
void rhs(const real_t *x, real_t *f)
#define BEGIN_NAMESPACE_ACADO
virtual ReferenceTrajectory * clone() const =0
virtual returnValue step(double _currentTime, const DVector &_y, const DVector &_x=emptyConstVector, const DVector &_xa=emptyConstVector, const DVector &_u=emptyConstVector, const DVector &_p=emptyConstVector, const DVector &_w=emptyConstVector)=0
static const VariablesGrid emptyConstVariablesGrid
virtual returnValue getReference(double tStart, double tEnd, VariablesGrid &_yRef) const =0