Need for a dynamicSystem class

ghorn / rawesome

DEPRECATED PROJECT! use dynobud or casadi instead

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Need for a dynamicSystem class #36

Open mzanon opened 11 years ago

mzanon commented 11 years ago

The new class should build on top of the dae class and extend its functionalities:

have a field called measurements (and potentially a field last measurements for ACADO Codegen) to collect all the measured outputs
have an integrator associated to it (potentially even different ones for MPC, MHE and simulation)
allow for some model options (add invariant stabilization only for the simulation, potentially add some controls for MHE -> to model perturbations)

ghorn commented 11 years ago

Sounds like you want a MpcMheSim class

mzanon commented 11 years ago

Yeah, I was thinking about that as well actually... though all what I stated previously is mostly related to dynamical systems, also the integrator is just a conversion to discrete time. Maybe the dynamicSystem should then be wrapped in MpcMheSim to add functionalities related to code gen, shifting, arrival cost update, lqr and so on