RealTimeAlgorithm

User-interface to formulate and solve model predictive control problems.
 The class RealTimeAlgorithm serves as a user-interface to formulate and solve 
 model predictive control problems.

  Usage:
    >> RealTimeAlgorithm(ocp, samplingTime);

  Parameters:
    ocp              link to an OCP object                 [acado.OCP]
    samplingTime    sampling time                         [NUMERIC]

  Example:
    >> ocp = acado.OCP(0.0, 1.0, 20);
    >> samplingtime = 0.5;
    >> algo = acado.RealTimeAlgorithm(ocp, samplingtime);   

  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 %User-interface to formulate and solve model predictive control problems.
0002 % The class RealTimeAlgorithm serves as a user-interface to formulate and solve
0003 % model predictive control problems.
0004 %
0005 %  Usage:
0006 %    >> RealTimeAlgorithm(ocp, samplingTime);
0007 %
0008 %  Parameters:
0009 %    ocp              link to an OCP object                 [acado.OCP]
0010 %    samplingTime    sampling time                         [NUMERIC]
0011 %
0012 %  Example:
0013 %    >> ocp = acado.OCP(0.0, 1.0, 20);
0014 %    >> samplingtime = 0.5;
0015 %    >> algo = acado.RealTimeAlgorithm(ocp, samplingtime);
0016 %
0017 %  Licence:
0018 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0019 %
0020 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0021 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0022 %    Developed within the Optimization in Engineering Center (OPTEC) under
0023 %    supervision of Moritz Diehl. All rights reserved.
0024 %
0025 %    ACADO Toolkit is free software; you can redistribute it and/or
0026 %    modify it under the terms of the GNU Lesser General Public
0027 %    License as published by the Free Software Foundation; either
0028 %    version 3 of the License, or (at your option) any later version.
0029 %
0030 %    ACADO Toolkit is distributed in the hope that it will be useful,
0031 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0032 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0033 %    Lesser General Public License for more details.
0034 %
0035 %    You should have received a copy of the GNU Lesser General Public
0036 %    License along with ACADO Toolkit; if not, write to the Free Software
0037 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0038 %
0039 %    Author: David Ariens
0040 %    Date: 2010
0041 %
0042 classdef RealTimeAlgorithm < acado.OptimizationAlgorithmBase & acado.ControlLaw
0043     properties(SetAccess='protected')
0044         samplingTime = 0;
0045     end
0046     
0047     methods
0048         function obj = RealTimeAlgorithm(varargin)
0049             
0050             global ACADO_;
0051             ACADO_.count_optalgo = ACADO_.count_optalgo+1;
0052             obj.name = strcat(obj.name, num2str(ACADO_.count_optalgo));
0053             
0054             if (nargin == 2 && isa(varargin{1}, 'acado.OCP') && isa(varargin{2}, 'numeric'))
0055                 obj.ocp = varargin{1};   
0056                 obj.samplingTime = acado.DoubleConstant(varargin{2});  
0057             else
0058                error('ERROR: Invalid RealTimeAlgorithm call. See <a href="matlab: help acado.RealTimeAlgorithm">help acado.RealTimeAlgorithm</a>'); 
0059             end
0060             
0061             ACADO_.helper.addInstruction(obj);
0062             
0063         end
0064 
0065         getInstructions(obj, cppobj, get)
0066         
0067     end
0068     
0069 end
0070