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112 lines
3.7 KiB
112 lines
3.7 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/function/discretized_differential_equation.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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#ifndef ACADO_TOOLKIT_DISCRETIZED_DIFFERENTIAL_EQUATION_HPP
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#define ACADO_TOOLKIT_DISCRETIZED_DIFFERENTIAL_EQUATION_HPP
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#include <acado/function/function_fwd.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to setup and evaluate discretized differential equations based on SymbolicExpressions.
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*
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* \ingroup BasicDataStructures
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*
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* The class DiscretizedDifferentialEquation allows to setup and evaluate
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* discretized differential equations (ODEs and DAEs) based on SymbolicExpressions.
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*
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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class DiscretizedDifferentialEquation : public DifferentialEquation
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor. If this constructor is used a nonlinear \n
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* autonomous discrete time system will be set up, i.e. the class \n
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* represtents a system of the form \n
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* \n
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* x_{k+1} = f( x_k, u_k, p, ... ) \n
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* \n
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* Here, the function f can be defined as usual with the \n
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* << operator which is inherited form the class DifferentialEquation. \n
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* Note that this function will in general assume that the function \n
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* f is not explictly time dependent. \n
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* If this constructor is used, the step length will be 1 by default. \n
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* \n
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*/
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DiscretizedDifferentialEquation( );
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/** Constructor, which is equivalent to the defaul constructor, but the \n
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* step length can be defined. \n
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*/
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DiscretizedDifferentialEquation( const double &stepLength_ );
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/** Copy constructor (deep copy). */
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DiscretizedDifferentialEquation( const DiscretizedDifferentialEquation& arg );
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/** Destructor. */
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virtual ~DiscretizedDifferentialEquation( );
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/** Assignment operator (deep copy). */
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DiscretizedDifferentialEquation& operator=( const DiscretizedDifferentialEquation& arg );
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/** Clone constructor (deep copy). */
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virtual DifferentialEquation* clone() const;
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protected:
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};
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CLOSE_NAMESPACE_ACADO
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//#include <acado/function/discretized_differential_equation.ipp>
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#endif // ACADO_TOOLKIT_DISCRETIZED_DIFFERENTIAL_EQUATION_HPP
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// end of file.
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