AdaptiveReferenceTrajectory Class Reference

Allows to define an adaptive reference trajectory that the ControlLaw aims to track. More...

#include <adaptive_reference_trajectory.hpp>

Inheritance diagram for AdaptiveReferenceTrajectory:

List of all members.

Public Member Functions
	AdaptiveReferenceTrajectory ()
	Default constructor.
	AdaptiveReferenceTrajectory (const AdaptiveReferenceTrajectory &rhs)
	Copy constructor (deep copy).
virtual	~AdaptiveReferenceTrajectory ()
	Destructor.
AdaptiveReferenceTrajectory &	operator= (const AdaptiveReferenceTrajectory &rhs)
	Assignment operator (deep copy).
virtual ReferenceTrajectory *	clone () const =0
	Clone constructor (deep copy).
virtual returnValue	init (double startTime=0.0, const Vector &_x=emptyConstVector, const Vector &_xa=emptyConstVector, const Vector &_u=emptyConstVector, const Vector &_p=emptyConstVector, const Vector &_w=emptyConstVector)=0
	Initializes the reference trajectory evaluation based on the given inputs.
virtual returnValue	step (double _currentTime, const Vector &_y, const Vector &_x=emptyConstVector, const Vector &_xa=emptyConstVector, const Vector &_u=emptyConstVector, const Vector &_p=emptyConstVector, const Vector &_w=emptyConstVector)=0
	Updates the reference trajectory evaluation based on the given inputs.
virtual returnValue	step (const Vector &_x, const VariablesGrid &_u=emptyConstVariablesGrid, const VariablesGrid &_p=emptyConstVariablesGrid, const VariablesGrid &_w=emptyConstVariablesGrid)=0
	Updates the reference trajectory evaluation based on the given inputs.
virtual returnValue	getReference (double tStart, double tEnd, VariablesGrid &_yRef) const =0
	Returns a piece of the reference trajectory starting and ending at given times.
virtual uint	getDim () const
	Returns dimension of reference trajectory.
BooleanType	isDefined () const
	Returns whether reference trajectory is defined (i.e.

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Detailed Description

The class AdaptiveReferenceTrajectory allows to define an adaptive reference trajectory (determined online) that the ControlLaw aims to track while computing its control action.

Author:

Hans Joachim Ferreau, Boris Houska

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Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO AdaptiveReferenceTrajectory::AdaptiveReferenceTrajectory

(

)

AdaptiveReferenceTrajectory::AdaptiveReferenceTrajectory

(

const AdaptiveReferenceTrajectory &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

AdaptiveReferenceTrajectory::~AdaptiveReferenceTrajectory

(

)

[virtual]

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Member Function Documentation

virtual ReferenceTrajectory* AdaptiveReferenceTrajectory::clone

(

)

const [pure virtual]

Returns:

Pointer to deep copy of base class type

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

uint AdaptiveReferenceTrajectory::getDim

(

)

const [virtual]

Returns:

Dimension of reference trajectory

Implements ReferenceTrajectory.

Reimplemented in SimulatedReferenceTrajectory.

virtual returnValue AdaptiveReferenceTrajectory::getReference	(	double	tStart,
		double	tEnd,
		VariablesGrid &	_yRef
	)		const [pure virtual]

Parameters:

[in]	tStart	Start time of reference piece.
[in]	tEnd	End time of reference piece.
[out]	_yRef	Desired piece of the reference trajectory.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

virtual returnValue AdaptiveReferenceTrajectory::init	(	double	startTime = 0.0,
		const Vector &	_x = emptyConstVector,
		const Vector &	_xa = emptyConstVector,
		const Vector &	_u = emptyConstVector,
		const Vector &	_p = emptyConstVector,
		const Vector &	_w = emptyConstVector
	)		[pure virtual]

Parameters:

[in]	_startTime	Start time.
[in]	_x	Initial value for differential states.
[in]	_xa	Initial value for algebraic states.
[in]	_u	Initial value for controls.
[in]	_p	Initial value for parameters.
[in]	_w	Initial value for disturbances.

Returns:

SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

BEGIN_NAMESPACE_ACADO BooleanType ReferenceTrajectory::isDefined

(

)

const [inline, inherited]

has positive dimension).

Returns:

BT_TRUE iff reference trajectory is defined,
BT_FALSE otherwise

References BT_FALSE, BT_TRUE, and ReferenceTrajectory::getDim().

Referenced by Controller::Controller(), and Controller::setReferenceTrajectory().

AdaptiveReferenceTrajectory & AdaptiveReferenceTrajectory::operator=

(

const AdaptiveReferenceTrajectory &

rhs

)

Parameters:

[in]

rhs

Right-hand side object.

virtual returnValue AdaptiveReferenceTrajectory::step	(	double	_currentTime,
		const Vector &	_y,
		const Vector &	_x = emptyConstVector,
		const Vector &	_xa = emptyConstVector,
		const Vector &	_u = emptyConstVector,
		const Vector &	_p = emptyConstVector,
		const Vector &	_w = emptyConstVector
	)		[pure virtual]

Parameters:

[in]	_currentTime	Start time.
[in]	_y	Current process output.
[in]	_x	Estimated current value for differential states.
[in]	_xa	Estimated current value for algebraic states.
[in]	_u	Estimated current value for controls.
[in]	_p	Estimated current value for parameters.
[in]	_w	Estimated current value for disturbances.

Returns:

SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

virtual returnValue AdaptiveReferenceTrajectory::step	(	const Vector &	_x,
		const VariablesGrid &	_u = emptyConstVariablesGrid,
		const VariablesGrid &	_p = emptyConstVariablesGrid,
		const VariablesGrid &	_w = emptyConstVariablesGrid
	)		[pure virtual]

Parameters:

[in]	_x	Estimated current value for differential states.
[in]	_u	Estimated current time-varying value for controls.
[in]	_p	Estimated current time-varying value for parameters.
[in]	_w	Estimated current time-varying value for disturbances.

Returns:

SUCCESSFUL_RETURN

Implements ReferenceTrajectory.

Implemented in SimulatedReferenceTrajectory.

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The documentation for this class was generated from the following files:

• adaptive_reference_trajectory.hpp
• adaptive_reference_trajectory.cpp