returnValue ModelData::setNonlinearFeedback( const DMatrix& C_, const OutputFcn& feedb_ )
{
C = C_;
feedb = feedb_;
if( feedb_.getNDX() > 0 || feedb_.getNU() > 0 || feedb_.getNP() > 0 || feedb_.getNOD() > 0 ) return RET_NOT_IMPLEMENTED_YET;
export_rhs = BT_TRUE;
return SUCCESSFUL_RETURN;
}
returnValue ModelData::setLinearOutput( const Matrix& M3_, const Matrix& A3_, const OutputFcn& rhs3_ )
{
M3 = M3_;
A3 = A3_;
rhs3 = rhs3_;
NX3 = A3.getNumCols();
if( !model_dimensions_set ) {
if( NU == 0 ) NU = rhs3_.getNU();
model_dimensions_set = BT_TRUE;
}
export_rhs = BT_TRUE;
return SUCCESSFUL_RETURN;
}
returnValue ModelData::setLinearOutput( const DMatrix& M3_, const DMatrix& A3_, const OutputFcn& rhs3_ )
{
M3 = M3_;
A3 = A3_;
NX3 = A3.getNumCols();
rhs3 = rhs3_;
if( NDX == 0 ) NDX = rhs3_.getNDX();
if( NU == 0 ) NU = rhs3_.getNU();
if( NP == 0 ) NP = rhs3_.getNP();
if( NOD == 0 ) NOD = rhs3_.getNOD();
export_rhs = BT_TRUE;
return SUCCESSFUL_RETURN;
}
uint ModelData::addOutput( const OutputFcn& outputEquation_, const Grid& grid ){
if( rhs_name.empty() && outputNames.size() == 0 ) {
Expression next;
outputEquation_.getExpression( next );
outputExpressions.push_back( next );
dim_outputs.push_back( next.getDim() );
if( NDX == 0 ) NDX = outputEquation_.getNDX();
if( NU == 0 ) NU = outputEquation_.getNU();
if( NP == 0 ) NP = outputEquation_.getNP();
if( NOD == 0 ) NOD = outputEquation_.getNOD();
outputGrids.push_back( grid );
uint numOuts = (int) ceil((double)grid.getNumIntervals());
num_meas.push_back( numOuts );
}
else {
return ACADOERROR( RET_INVALID_OPTION );
}
return dim_outputs.size();
}
