step

Executes next single step. CPP code will be generated when this method is called
 When running your problem, the output struct will be {'U', 'P'} with U the
 optimized controls and P the optimized parameters.

  Usage:
    >> step( startTime )
    >> step( startTime, x0 )
    >> step( startTime, x0, y_ref )

  Parameters:
    startTime     [NUMERIC]
    x0            [VECTOR]
    y_ref         [MATRIX, first column are time points]

  Example:
    >> controller.step(0, x0);

  Licence:
    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)

    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
    Developed within the Optimization in Engineering Center (OPTEC) under
    supervision of Moritz Diehl. All rights reserved.

    ACADO Toolkit is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 3 of the License, or (at your option) any later version.

    ACADO Toolkit is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with ACADO Toolkit; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

    Author: David Ariens
    Date: 2010

0001 function step(obj, varargin)
0002 %Executes next single step. CPP code will be generated when this method is called
0003 % When running your problem, the output struct will be {'U', 'P'} with U the
0004 % optimized controls and P the optimized parameters.
0005 %
0006 %  Usage:
0007 %    >> step( startTime )
0008 %    >> step( startTime, x0 )
0009 %    >> step( startTime, x0, y_ref )
0010 %
0011 %  Parameters:
0012 %    startTime     [NUMERIC]
0013 %    x0            [VECTOR]
0014 %    y_ref         [MATRIX, first column are time points]
0015 %
0016 %  Example:
0017 %    >> controller.step(0, x0);
0018 %
0019 %  Licence:
0020 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0021 %
0022 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0023 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0024 %    Developed within the Optimization in Engineering Center (OPTEC) under
0025 %    supervision of Moritz Diehl. All rights reserved.
0026 %
0027 %    ACADO Toolkit is free software; you can redistribute it and/or
0028 %    modify it under the terms of the GNU Lesser General Public
0029 %    License as published by the Free Software Foundation; either
0030 %    version 3 of the License, or (at your option) any later version.
0031 %
0032 %    ACADO Toolkit is distributed in the hope that it will be useful,
0033 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0034 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0035 %    Lesser General Public License for more details.
0036 %
0037 %    You should have received a copy of the GNU Lesser General Public
0038 %    License along with ACADO Toolkit; if not, write to the Free Software
0039 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0040 %
0041 %    Author: David Ariens
0042 %    Date: 2010
0043 %
0044 
0045 obj.do_one_step = 1;
0046 
0047 
0048 if (nargin == 2)
0049     obj.step_startTime = acado.DoubleConstant(varargin{1});
0050 
0051 elseif (nargin == 3)
0052     obj.step_startTime = acado.DoubleConstant(varargin{1});
0053     obj.step_x0 = acado.Vector(varargin{2});
0054     
0055 elseif (nargin == 4)
0056     obj.step_startTime = acado.DoubleConstant(varargin{1});
0057     obj.step_x0 = acado.Vector(varargin{2});
0058     obj.step_y_ref = acado.Matrix(varargin{3});
0059     
0060 else
0061     error('ERROR: Invalid step(r) call. <a href="matlab: help acado.Controller.step">help acado.Controller.step</a>'); 
0062 
0063 end
0064 
0065 
0066 
0067 end