Allows to define a static periodic reference trajectory that the ControlLaw aims to track. The class PeriodicReferenceTrajectory allows to define a static periodic reference trajectory (given beforehand) that the ControlLaw aims to track while computing its output. Usage: >> PeriodicReferenceTrajectory(x); Parameters: x matrix Example: >> traject = acado.PeriodicReferenceTrajectory(x) Licence: This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. Developed within the Optimization in Engineering Center (OPTEC) under supervision of Moritz Diehl. All rights reserved. ACADO Toolkit is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ACADO Toolkit is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with ACADO Toolkit; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA Author: David Ariens Date: 2010
0001 %Allows to define a static periodic reference trajectory that the ControlLaw aims to track. 0002 % The class PeriodicReferenceTrajectory allows to define a static periodic reference 0003 % trajectory (given beforehand) that the ControlLaw aims to track while 0004 % computing its output. 0005 % 0006 % Usage: 0007 % >> PeriodicReferenceTrajectory(x); 0008 % 0009 % Parameters: 0010 % x matrix 0011 % 0012 % Example: 0013 % >> traject = acado.PeriodicReferenceTrajectory(x) 0014 % 0015 % Licence: 0016 % This file is part of ACADO Toolkit - (http://www.acadotoolkit.org/) 0017 % 0018 % ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 0019 % Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven. 0020 % Developed within the Optimization in Engineering Center (OPTEC) under 0021 % supervision of Moritz Diehl. All rights reserved. 0022 % 0023 % ACADO Toolkit is free software; you can redistribute it and/or 0024 % modify it under the terms of the GNU Lesser General Public 0025 % License as published by the Free Software Foundation; either 0026 % version 3 of the License, or (at your option) any later version. 0027 % 0028 % ACADO Toolkit is distributed in the hope that it will be useful, 0029 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0030 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 0031 % Lesser General Public License for more details. 0032 % 0033 % You should have received a copy of the GNU Lesser General Public 0034 % License along with ACADO Toolkit; if not, write to the Free Software 0035 % Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 0036 % 0037 % Author: David Ariens 0038 % Date: 2010 0039 % 0040 classdef PeriodicReferenceTrajectory < acado.StaticReferenceTrajectory 0041 properties(SetAccess='protected') 0042 0043 end 0044 0045 methods 0046 function obj = PeriodicReferenceTrajectory(varargin) 0047 0048 if (nargin == 1) 0049 obj.ref = acado.Matrix(varargin{1}); 0050 end 0051 0052 % no need to do an "addinstruction" here, that's done in the 0053 % parent class 0054 0055 end 0056 0057 getInstructions(obj, cppobj, get) 0058 0059 end 0060 end