Initialization Usage: >> init( r ) Parameters: r MATRIX with Initialization values [NUMERIC 1 x n matrix] Example: >> sim = acado.SimulationEnvironment( 0.0,3.0,process,controller ); >> r = zeros(1,4); >> sim.init( r ); 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 function init(obj, varargin) 0002 %Initialization 0003 % 0004 % Usage: 0005 % >> init( r ) 0006 % 0007 % Parameters: 0008 % r MATRIX with Initialization values [NUMERIC 1 x n matrix] 0009 % 0010 % Example: 0011 % >> sim = acado.SimulationEnvironment( 0.0,3.0,process,controller ); 0012 % >> r = zeros(1,4); 0013 % >> sim.init( r ); 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 0041 if (length(varargin) == 1) 0042 r = varargin{1}; 0043 [rm, rn] = size(r); 0044 0045 if (rm ~= 1) 0046 error('ERROR: Invalid init(r) call. <a href="matlab: help acado.SimulationEnvironment.init">help acado.SimulationEnvironment.init</a>'); 0047 end 0048 0049 obj.initvector = acado.Vector(r); 0050 0051 0052 else 0053 error('ERROR: Invalid init call. <a href="matlab: help acado.SimulationEnvironment.init">help acado.SimulationEnvironment.init</a>'); 0054 end 0055 0056 end