mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-14 17:32:05 +08:00
George Hotz
125 lines
2.9 KiB
C++
125 lines
2.9 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/differential_equation.ipp
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* \author Boris Houska, Hans Joachim Ferreau
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*
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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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inline int DifferentialEquation::getNumDynamicEquations() const{
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return getDim() - getNumAlgebraicEquations();
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}
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inline int DifferentialEquation::getNumAlgebraicEquations() const{
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return getNXA();
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}
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inline BooleanType DifferentialEquation::isImplicit( ) const{
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return is_implicit;
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}
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inline int DifferentialEquation::getStateEnumerationIndex( int index_ ){
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if( counter != 0 ){
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ASSERT( counter == getNumDynamicEquations() );
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ASSERT( index_ < counter );
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return index(VT_DIFFERENTIAL_STATE,component[index_]);
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}
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return index(VT_DIFFERENTIAL_STATE,index_);
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}
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inline DVector DifferentialEquation::getDifferentialStateComponents() const{
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int run1;
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DVector tmp(getNumDynamicEquations());
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if( counter != 0 ){
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ASSERT( counter == getNumDynamicEquations() );
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for( run1 = 0; run1 < counter; run1++ )
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tmp(run1) = component[run1];
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}
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else{
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for( run1 = 0; run1 < getNumDynamicEquations(); run1++ )
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tmp(run1) = run1;
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}
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return tmp;
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}
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inline double DifferentialEquation::getStartTime() const{
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if( T1 == 0 ) return t1;
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return -INFTY;
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}
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inline double DifferentialEquation::getEndTime() const{
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if( T2 == 0 ) return t2;
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return INFTY;
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}
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inline int DifferentialEquation::getStartTimeIdx() const{
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if( T1 != 0 ) return T1->getComponent(0);
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return -1;
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}
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inline int DifferentialEquation::getEndTimeIdx() const{
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if( T2 != 0 ) return T2->getComponent(0);
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return -1;
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}
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inline int* DifferentialEquation::getComponents() const{ return component; }
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CLOSE_NAMESPACE_ACADO
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// end of file.
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