mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-09 15:02:05 +08:00
George Hotz
84 lines
3.5 KiB
C++
84 lines
3.5 KiB
C++
/*
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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/evaluation_point.ipp
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* \author Boris Houska, Hans Joachim Ferreau
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* \date 2010
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*/
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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BEGIN_NAMESPACE_ACADO
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template <typename T> inline returnValue TevaluationPoint<T>::copy( const int *order, const Tmatrix<T> &rhs ){
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for( uint i = 0; i < rhs.getDim(); i++ )
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z->operator()(order[i]) = rhs(i);
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return SUCCESSFUL_RETURN;
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}
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::backCopy( const int *order, const uint &dim ) const{
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Tmatrix<T> tmp(dim);
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uint i;
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for( i = 0; i < dim; i++ )
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tmp(i) = z->operator()(order[i]);
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return tmp;
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}
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template <typename T> inline returnValue TevaluationPoint<T>::setT ( const Tmatrix<T> &t ){ return copy( idx[0], t ); }
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template <typename T> inline returnValue TevaluationPoint<T>::setX ( const Tmatrix<T> &x ){ return copy( idx[1], x ); }
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template <typename T> inline returnValue TevaluationPoint<T>::setXA( const Tmatrix<T> &xa ){ return copy( idx[2], xa ); }
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template <typename T> inline returnValue TevaluationPoint<T>::setP ( const Tmatrix<T> &p ){ return copy( idx[3], p ); }
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template <typename T> inline returnValue TevaluationPoint<T>::setU ( const Tmatrix<T> &u ){ return copy( idx[4], u ); }
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template <typename T> inline returnValue TevaluationPoint<T>::setW ( const Tmatrix<T> &w ){ return copy( idx[5], w ); }
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template <typename T> inline returnValue TevaluationPoint<T>::setDX( const Tmatrix<T> &dx ){ return copy( idx[6], dx ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getT () const{ return backCopy( idx[0], 1 ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getX () const{ return backCopy( idx[1], nx ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getXA() const{ return backCopy( idx[2], na ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getP () const{ return backCopy( idx[3], np ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getU () const{ return backCopy( idx[4], nu ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getW () const{ return backCopy( idx[5], nw ); }
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template <typename T> inline Tmatrix<T> TevaluationPoint<T>::getDX() const{ return backCopy( idx[6], nd ); }
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template <typename T> inline Tmatrix<T>* TevaluationPoint<T>::getEvaluationPointer() const{ return z; }
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CLOSE_NAMESPACE_ACADO
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// end of file.
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