DoubleConstant

Constant

  Usage:
    >> DoubleConstant(value);

  Parameters:
    name        A numeric [NUMERIC or acado.MexInput]

  Example:
    >> acado.DoubleConstant(1.5);
    >> acado.DoubleConstant(acado.MexInput());

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

    ACADO Toolkit -- A Toolkit for Automatic Disturbance 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: 2009-2010

0001 %Constant
0002 %
0003 %  Usage:
0004 %    >> DoubleConstant(value);
0005 %
0006 %  Parameters:
0007 %    name        A numeric [NUMERIC or acado.MexInput]
0008 %
0009 %  Example:
0010 %    >> acado.DoubleConstant(1.5);
0011 %    >> acado.DoubleConstant(acado.MexInput());
0012 %
0013 %  Licence:
0014 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0015 %
0016 %    ACADO Toolkit -- A Toolkit for Automatic Disturbance and Dynamic Optimization.
0017 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0018 %    Developed within the Optimization in Engineering Center (OPTEC) under
0019 %    supervision of Moritz Diehl. All rights reserved.
0020 %
0021 %    ACADO Toolkit is free software; you can redistribute it and/or
0022 %    modify it under the terms of the GNU Lesser General Public
0023 %    License as published by the Free Software Foundation; either
0024 %    version 3 of the License, or (at your option) any later version.
0025 %
0026 %    ACADO Toolkit is distributed in the hope that it will be useful,
0027 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0028 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0029 %    Lesser General Public License for more details.
0030 %
0031 %    You should have received a copy of the GNU Lesser General Public
0032 %    License along with ACADO Toolkit; if not, write to the Free Software
0033 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0034 %
0035 %    Author: David Ariens
0036 %    Date: 2009-2010
0037 %
0038 classdef DoubleConstant < acado.Operator    
0039     properties(SetAccess='private')
0040         val;
0041     end
0042     
0043     methods
0044         function obj = DoubleConstant(val)
0045             global ACADO_;
0046             
0047             if (isa(val, 'numeric'))
0048                 ACADO_.count_double = ACADO_.count_double+1;
0049                                 
0050                 obj.val = val;
0051                 obj.name = strcat('acadoconstant', num2str(ACADO_.count_double));
0052                 
0053                 ACADO_.helper.addInstruction(obj);
0054                 
0055             elseif (isa(val, 'acado.MexInput'))
0056                 
0057                 if (val.type ~= 1)
0058                     error('MexInput should be in this case a numeric value, not a vector or matrix.'); 
0059                 end
0060 
0061                 obj.name = val.name;
0062                 
0063             else
0064                 error('DoubleConstant expects a numeric value or a acado.MexInput'); 
0065             end
0066         end
0067        
0068         
0069         getInstructions(obj, cppobj, get)
0070         
0071         
0072         function s = toString(obj)
0073             % toString is used in epxressions (eg 2 + x -> DoubleConstant +
0074             % DifferentialState)
0075             s = obj.name; 
0076             
0077         end
0078     end
0079 end
0080