33 #ifndef ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP 34 #define ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP 375 #include <acado/simulation_environment/simulation_environment.ipp> 378 #endif // ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP SimulationEnvironment & operator=(const SimulationEnvironment &rhs)
Calculates the control inputs of the Process based on the Process outputs.
returnValue setController(Controller &_controller)
virtual returnValue setupLogging()
returnValue getProcessDifferentialStates(VariablesGrid &_diffStates)
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
returnValue getFeedbackControl(Curve &_feedbackControl) const
returnValue getProcessAlgebraicStates(VariablesGrid &_algStates)
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
#define CLOSE_NAMESPACE_ACADO
Simulates real time measurements for simulations.
returnValue getSampledProcessOutput(VariablesGrid &_sampledProcessOutput)
virtual returnValue setupOptions()
returnValue init(const DVector &x0_, const DVector &p_=emptyConstVector)
returnValue initializeAlgebraicStates(const VariablesGrid &_xa_init)
static const DVector emptyConstVector
returnValue getProcessOutput(Curve &_processOutput) const
double determineComputationalDelay(double controllerRuntime) const
Allows to work with piecewise-continous function defined over a scalar time interval.
void rhs(const real_t *x, real_t *f)
Base class for building-blocks of the SimulationEnvironment.
Allows to run closed-loop simulations of dynamic systems.
Simulates the process to be controlled based on a dynamic model.
#define BEGIN_NAMESPACE_ACADO
returnValue setProcess(Process &_process)
returnValue getProcessIntermediateStates(VariablesGrid &_interStates)
SimulationClock simulationClock
virtual ~SimulationEnvironment()
returnValue getFeedbackParameter(Curve &_feedbackParameter) const