text: /*
   *    This file is part of ACADO Toolkit.
   *
   *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
   *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
   *    Milan Vukov, Rien Quirynen, KU 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
   *
   */
  
  
  /**
   *    \file src/estimator/estimator.cpp
   *    \author Hans Joachim Ferreau, Boris Houska
   *    \date 13.06.2008
   */
  
  
  #include <acado/estimator/estimator.hpp>
  
  
  
  BEGIN_NAMESPACE_ACADO
  
  
  //
  // PUBLIC MEMBER FUNCTIONS:
  //
  
  Estimator::Estimator( ) : SimulationBlock( BN_ESTIMATOR,DEFAULT_SAMPLING_TIME )
  {
  }
  
  
  Estimator::Estimator(	double _samplingTime
  						) : SimulationBlock( BN_ESTIMATOR,_samplingTime )
  {
  	setStatus( BS_NOT_INITIALIZED );
  }
  
  
  Estimator::Estimator( const Estimator& rhs ) : SimulationBlock( rhs )
  {
  	x  = rhs.x;
  	xa = rhs.xa;
  	u  = rhs.u;
  	p  = rhs.p;
  	w  = rhs.w;
  }
  
  
  Estimator::~Estimator( )
  {
  }
  
  
  Estimator& Estimator::operator=( const Estimator& rhs )
  {
  	if ( this != &rhs )
  	{
  		SimulationBlock::operator=( rhs );
  
  		x  = rhs.x;
  		xa = rhs.xa;
  		u  = rhs.u;
  		p  = rhs.p;
  		w  = rhs.w;
  	}
  
      return *this;
  }
  
  
  returnValue Estimator::init(	double startTime,
  								const DVector &x0_,
  								const DVector &p_
  								)
  {
  	setStatus( BS_READY );
  
  	return SUCCESSFUL_RETURN;
  }
  
  
  
  
  //
  // PROTECTED MEMBER FUNCTIONS:
  //
  
  
  
  
  CLOSE_NAMESPACE_ACADO
  
  // end of file.
  