reference_trajectory.hpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
25 
26 
33 #ifndef ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
34 #define ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
35 
36 
39 
41 
42 
44 
45 
46 
59 class ReferenceTrajectory //: public SimulationBlock
60 {
61  //
62  // PUBLIC MEMBER FUNCTIONS:
63  //
64  public:
68 
74  );
75 
78  virtual ~ReferenceTrajectory( );
79 
85  );
86 
91  virtual ReferenceTrajectory* clone( ) const = 0;
92 
93 
105  virtual returnValue init( double startTime = 0.0,
106  const DVector& _x = emptyConstVector,
107  const DVector& _xa = emptyConstVector,
108  const DVector& _u = emptyConstVector,
109  const DVector& _p = emptyConstVector,
110  const DVector& _w = emptyConstVector
111  ) = 0;
112 
113 
126  virtual returnValue step( double _currentTime,
127  const DVector& _y,
128  const DVector& _x = emptyConstVector,
129  const DVector& _xa = emptyConstVector,
130  const DVector& _u = emptyConstVector,
131  const DVector& _p = emptyConstVector,
132  const DVector& _w = emptyConstVector
133  ) = 0;
134 
144  virtual returnValue step( const DVector& _x,
148  ) = 0;
149 
159  virtual returnValue getReference( double tStart,
160  double tEnd,
161  VariablesGrid& _yRef
162  ) const = 0;
163 
164 
169  virtual uint getDim( ) const = 0;
170 
176  inline BooleanType isDefined( ) const;
177 
178 
179  //
180  // PROTECTED MEMBER FUNCTIONS:
181  //
182  protected:
183 
184 
185 
186  //
187  // DATA MEMBERS:
188  //
189  protected:
190 
191 };
192 
193 
195 
196 
197 #include <acado/reference_trajectory/reference_trajectory.ipp>
198 
199 
200 // collecting remaining headers
203 
204 
205 #endif // ACADO_TOOLKIT_REFERENCE_TRAJECTORY_HPP
206 
207 /*
208  * end of file
209  */
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
Definition: acado_types.hpp:42
#define CLOSE_NAMESPACE_ACADO
ReferenceTrajectory & operator=(const ReferenceTrajectory &rhs)
virtual uint getDim() const =0
BooleanType isDefined() const
static const DVector emptyConstVector
Definition: vector.hpp:336
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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:03