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196 lines
3.7 KiB
196 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/process/process.ipp
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* \author Boris Houska, Hans Joachim Ferreau
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* \date 24.08.2008
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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 Process::getY( VariablesGrid& _y
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) const
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{
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_y = y;
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return SUCCESSFUL_RETURN;
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}
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inline uint Process::getNU( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return 0;
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else
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return dynamicSystems[stageIdx]->getNumControls( );
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}
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inline uint Process::getNP( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return 0;
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else
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return dynamicSystems[stageIdx]->getNumParameters( );
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}
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inline uint Process::getNW( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return 0;
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else
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return dynamicSystems[stageIdx]->getNumDisturbances( );
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}
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inline uint Process::getNY( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return 0;
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else
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return dynamicSystems[stageIdx]->getNumOutputs( );
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}
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inline uint Process::getNumStages( ) const
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{
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return nDynSys;
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}
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inline BooleanType Process::isODE( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return BT_TRUE;
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else
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return dynamicSystems[stageIdx]->isODE( );
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}
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inline BooleanType Process::isDAE( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return BT_TRUE;
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else
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return dynamicSystems[stageIdx]->isDAE( );
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}
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inline BooleanType Process::isDiscretized( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return BT_TRUE;
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else
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return dynamicSystems[stageIdx]->isDiscretized( );
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}
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inline BooleanType Process::isContinuous( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return BT_TRUE;
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else
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return dynamicSystems[stageIdx]->isContinuous( );
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}
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inline BooleanType Process::hasActuator( ) const
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{
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if ( actuator != 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 Process::hasSensor( ) const
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{
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if ( sensor != 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 Process::hasProcessDisturbance( ) const
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{
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if ( processDisturbance != 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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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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inline uint Process::getNX( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return 0;
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else
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return dynamicSystems[stageIdx]->getNumDynamicEquations( );
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}
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inline uint Process::getNXA( uint stageIdx
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) const
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{
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if ( stageIdx >= getNumStages( ) )
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return 0;
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else
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return dynamicSystems[stageIdx]->getNumAlgebraicEquations( );
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}
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CLOSE_NAMESPACE_ACADO
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// end of file.
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