mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-09 15:02:05 +08:00
George Hotz
118 lines
2.8 KiB
C++
118 lines
2.8 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/transition.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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#ifndef ACADO_TOOLKIT_TRANSITION_HPP
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#define ACADO_TOOLKIT_TRANSITION_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 transition functions based on SymbolicExpressions.
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*
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* \ingroup BasicDataStructures
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*
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* The class OutputFcn allows to setup and evaluate transition functions
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* 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 Transition : public Function{
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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. */
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Transition( );
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/** Copy constructor (deep copy). */
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Transition( const Transition& arg );
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/** Destructor. */
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virtual ~Transition( );
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/** Assignment operator (deep copy). */
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Transition& operator=( const Transition& arg );
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/** Loading Expressions (deep copy). */
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Transition& operator<<( const DifferentialState& arg );
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/** Loading Expressions (deep copy). */
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Transition& operator==( const Expression& arg );
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/** Loading Expressions (deep copy). */
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Transition& operator==( const double &arg );
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/** Loading Symbolic DVector (deep copy). */
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Transition& operator==( const DVector& arg );
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/** Loading Symbolic DMatrix (deep copy). */
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Transition& operator==( const DMatrix& arg );
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inline DVector getDifferentialStateComponents() const;
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// PROTECTED MEMBERS:
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// ------------------
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protected:
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int counter ;
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int *component;
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/function/transition.ipp>
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#endif // ACADO_TOOLKIT_TRANSITION_HPP
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// end of file.
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