StaticReferenceTrajectory

Allows to define a static reference trajectory that the ControlLaw aims to track.
 The class StaticReferenceTrajectory allows to define a static reference trajectory 
 (given beforehand) that the ControlLaw aims to track while computing its output.

  Usage:
    >> StaticReferenceTrajectory();   (zero reference)
    >> StaticReferenceTrajectory(x);

  Parameters:
    x      matrix

  Example:
    >> traject = acado.StaticReferenceTrajectory(x)

  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 %Allows to define a static reference trajectory that the ControlLaw aims to track.
0002 % The class StaticReferenceTrajectory allows to define a static reference trajectory
0003 % (given beforehand) that the ControlLaw aims to track while computing its output.
0004 %
0005 %  Usage:
0006 %    >> StaticReferenceTrajectory();   (zero reference)
0007 %    >> StaticReferenceTrajectory(x);
0008 %
0009 %  Parameters:
0010 %    x      matrix
0011 %
0012 %  Example:
0013 %    >> traject = acado.StaticReferenceTrajectory(x)
0014 %
0015 %  Licence:
0016 %    This file is part of ACADO Toolkit  - (http://www.acadotoolkit.org/)
0017 %
0018 %    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
0019 %    Copyright (C) 2008-2009 by Boris Houska and Hans Joachim Ferreau, K.U.Leuven.
0020 %    Developed within the Optimization in Engineering Center (OPTEC) under
0021 %    supervision of Moritz Diehl. All rights reserved.
0022 %
0023 %    ACADO Toolkit is free software; you can redistribute it and/or
0024 %    modify it under the terms of the GNU Lesser General Public
0025 %    License as published by the Free Software Foundation; either
0026 %    version 3 of the License, or (at your option) any later version.
0027 %
0028 %    ACADO Toolkit is distributed in the hope that it will be useful,
0029 %    but WITHOUT ANY WARRANTY; without even the implied warranty of
0030 %    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
0031 %    Lesser General Public License for more details.
0032 %
0033 %    You should have received a copy of the GNU Lesser General Public
0034 %    License along with ACADO Toolkit; if not, write to the Free Software
0035 %    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
0036 %
0037 %    Author: David Ariens
0038 %    Date: 2010
0039 %
0040 classdef StaticReferenceTrajectory < acado.ReferenceTrajectory    
0041     properties(SetAccess='protected')
0042         ref;
0043     end
0044     
0045     methods
0046         function obj = StaticReferenceTrajectory(varargin)
0047             
0048             if (nargin == 1)
0049                 obj.ref = acado.Matrix(varargin{1});
0050             end
0051             
0052             global ACADO_;
0053             ACADO_.helper.addInstruction(obj);
0054             
0055         end
0056         
0057         getInstructions(obj, cppobj, get)
0058 
0059     end
0060 end