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174 lines
3.2 KiB
174 lines
3.2 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/controller/controller.ipp
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* \author Hans Joachim Ferreau, Boris Houska
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* \date 20.08.2008
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*/
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BEGIN_NAMESPACE_ACADO
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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inline returnValue Controller::getU( DVector& _u
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) const
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{
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if ( controlLaw != 0 )
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return controlLaw->getU( _u );
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else
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return ACADOERROR( RET_NO_CONTROLLAW_SPECIFIED );
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}
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inline returnValue Controller::getP( DVector& _p
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) const
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{
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if ( controlLaw != 0 )
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return controlLaw->getP( _p );
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else
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return ACADOERROR( RET_NO_CONTROLLAW_SPECIFIED );
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}
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inline uint Controller::getNY( ) const
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{
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if ( estimator != 0 )
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return estimator->getNY( );
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if ( controlLaw != 0 )
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return controlLaw->getNX( );
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return 0;
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}
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inline uint Controller::getNU( ) const
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{
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if ( controlLaw != 0 )
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return controlLaw->getNU( );
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else
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return 0;
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}
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inline uint Controller::getNP( ) const
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{
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if ( controlLaw != 0 )
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return controlLaw->getNP( );
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else
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return 0;
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}
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inline BooleanType Controller::hasDynamicControlLaw( ) const
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{
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if ( controlLaw == 0 )
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return BT_FALSE;
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return controlLaw->isDynamic( );
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}
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inline BooleanType Controller::hasStaticControlLaw( ) const
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{
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if ( controlLaw == 0 )
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return BT_FALSE;
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return controlLaw->isStatic( );
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}
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inline BooleanType Controller::hasEstimator( ) const
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{
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if ( estimator != 0 )
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return BT_TRUE;
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else
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return BT_FALSE;
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}
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inline BooleanType Controller::hasReferenceTrajectory( ) const
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{
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if ( referenceTrajectory != 0 )
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return BT_TRUE;
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else
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return BT_FALSE;
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}
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inline double Controller::getSamplingTimeControlLaw( )
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{
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if ( controlLaw != 0 )
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return controlLaw->getSamplingTime( );
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else
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return -1.0;
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}
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inline double Controller::getSamplingTimeEstimator( )
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{
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if ( estimator != 0 )
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return estimator->getSamplingTime( );
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else
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return -1.0;
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}
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inline double Controller::getPreviousRealRuntime( )
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{
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return realClock.getTime( );
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}
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inline returnValue Controller::enable( )
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{
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isEnabled = BT_TRUE;
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return SUCCESSFUL_RETURN;
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}
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inline returnValue Controller::disable( )
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{
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isEnabled = BT_FALSE;
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return SUCCESSFUL_RETURN;
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}
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CLOSE_NAMESPACE_ACADO
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// end of file.
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