#include <AsMeasurement.hpp>
Public Member Functions | |
Measurement () | |
This class provides an abstraction for the measurements of the states coming in and the solutions of the controller. | |
virtual | ~Measurement () |
virtual std::vector< Index > | GetInitialEqConstraints ()=0 |
This function returns a std::vector holding the indices in IteratesVector of the equations that are to be "slacked" to free the initial values for the NMPC. | |
virtual std::vector< Index > | GetNmpcState (Index i)=0 |
This function returns a std::vector holding the indices of the variables indexed as nmpc_state_i. | |
virtual SmartPtr< DenseVector > | GetMeasurement (Index measurement_number)=0 |
This function returns delta_u. | |
virtual void | SetSolution (Index measurement_number, SmartPtr< IteratesVector > sol)=0 |
This function does whatever the measurement machine does with the solution of the AsNmpController. |
Definition at line 19 of file AsMeasurement.hpp.
Ipopt::Measurement::Measurement | ( | ) | [inline] |
This class provides an abstraction for the measurements of the states coming in and the solutions of the controller.
It basicall acts as the "plant" of the controller.
Definition at line 25 of file AsMeasurement.hpp.
virtual Ipopt::Measurement::~Measurement | ( | ) | [inline, virtual] |
Definition at line 29 of file AsMeasurement.hpp.
virtual std::vector<Index> Ipopt::Measurement::GetInitialEqConstraints | ( | ) | [pure virtual] |
This function returns a std::vector holding the indices in IteratesVector of the equations that are to be "slacked" to free the initial values for the NMPC.
This std::vector is used in the construction of the A-SchurData for the Schur Decomposition.
This function returns a std::vector holding the indices of the variables indexed as nmpc_state_i.
virtual SmartPtr<DenseVector> Ipopt::Measurement::GetMeasurement | ( | Index | measurement_number | ) | [pure virtual] |
This function returns delta_u.
It should use the values of IpData().trial()->x()
virtual void Ipopt::Measurement::SetSolution | ( | Index | measurement_number, | |
SmartPtr< IteratesVector > | sol | |||
) | [pure virtual] |
This function does whatever the measurement machine does with the solution of the AsNmpController.