C++ (Cpp) AggregatorInitializer Examples

Example #1

File: VMeNaiveSdMinimizer.cpp Project: wuyou33/vme-nmpc

VMeNaiveSdMinimizer::VMeNaiveSdMinimizer(AggregatorInitializer& init)
    : maxSdSteps(init.get_maxSdSteps()),
      sdStepFactor(init.get_sdStepFactor()),
      sdConvergenceTolerance(init.get_sdConvergenceTolerance()) {
    init.minimizerBindingSafetyCheck();
    model = dynamic_cast<VMeModel*>(init.model);
    init.bindIntoAggregator(this);
}

Example #2

File: VMeNmpcKernel.cpp Project: wuyou33/vme-nmpc

VMeNmpcKernel::VMeNmpcKernel(AggregatorInitializer& init)
    : targetDistanceTolerance(init.get_targetDistanceTolerance()) {
  // TODO Safety checks
  init.aggregatorCompletionSafetyCheck();
  model = init.model;
  minimizer = init.minimizer;
  planner = init.planner;

  cmdsExecutedFromCurrentHorizon = model->get_horizonSize();

  if (init.logger == nullptr) {
    noOpLogger = std::make_unique<VMeLogger>();
    logger = noOpLogger.get();
  } else
    logger = init.logger;

  logger->logConstants(init);
}

Example #3

File: FakeVMeModel.cpp Project: chisomiloks/vme-nmpc

FakeVMeModel::FakeVMeModel(AggregatorInitializer& init, std::string& historyString)
    : eventHistory(historyString), N(init.get_nmpcHorizon()) {
    init.bindIntoAggregator(this);
}