clock.hpp

Go to the documentation of this file.

/*
 *    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
 *
 */


#ifndef ACADO_TOOLKIT_CLOCK_HPP
#define ACADO_TOOLKIT_CLOCK_HPP


#include <acado/utils/acado_utils.hpp>


BEGIN_NAMESPACE_ACADO


class Clock
{
        //
        //  PUBLIC MEMBER FUNCTIONS:
        //
        public:

                Clock( );

                Clock(  const Clock &rhs
                                );

                virtual ~Clock();

                Clock& operator=(       const Clock &rhs
                                                        );

                virtual Clock* clone( ) const = 0;


                virtual returnValue init(       double _initialTime
                                                                        );

                virtual returnValue reset( );


                virtual returnValue start( ) = 0;
        
                virtual returnValue step(       double _timeShift
                                                                        ) = 0;
        
                virtual returnValue stop ( ) = 0;


                virtual returnValue getTime(    double& _elapsedTime
                                                                                );

                virtual double getTime( );


                inline ClockStatus getStatus( ) const;



        //
        //  PROTECTED MEMBERS:
        //
        protected:
                double elapsedTime;                             
                ClockStatus status;                             
};


CLOSE_NAMESPACE_ACADO


#include <acado/clock/clock.ipp>


// collect all remaining headers of clock directory
#include <acado/clock/real_clock.hpp>
#include <acado/clock/simulation_clock.hpp>


#endif  // ACADO_TOOLKIT_CLOCK_HPP


/*
 *      end of file
 */