00001 /* 00002 * This file is part of ACADO Toolkit. 00003 * 00004 * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 00005 * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, 00006 * Milan Vukov, Rien Quirynen, KU Leuven. 00007 * Developed within the Optimization in Engineering Center (OPTEC) 00008 * under supervision of Moritz Diehl. All rights reserved. 00009 * 00010 * ACADO Toolkit is free software; you can redistribute it and/or 00011 * modify it under the terms of the GNU Lesser General Public 00012 * License as published by the Free Software Foundation; either 00013 * version 3 of the License, or (at your option) any later version. 00014 * 00015 * ACADO Toolkit is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 * Lesser General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU Lesser General Public 00021 * License along with ACADO Toolkit; if not, write to the Free Software 00022 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00023 * 00024 */ 00025 00026 00033 #ifndef ACADO_TOOLKIT_SENSOR_HPP 00034 #define ACADO_TOOLKIT_SENSOR_HPP 00035 00036 00037 #include <acado/utils/acado_utils.hpp> 00038 #include <acado/transfer_device/transfer_device.hpp> 00039 00040 00041 BEGIN_NAMESPACE_ACADO 00042 00043 00054 class Sensor : public TransferDevice 00055 { 00056 // 00057 // PUBLIC MEMBER FUNCTIONS: 00058 // 00059 public: 00060 00063 Sensor( ); 00064 00070 Sensor( uint _nY, 00071 double _samplingTime = DEFAULT_SAMPLING_TIME 00072 ); 00073 00078 Sensor( const Sensor& rhs 00079 ); 00080 00083 virtual ~Sensor( ); 00084 00089 Sensor& operator=( const Sensor& rhs 00090 ); 00091 00092 00102 returnValue setOutputNoise( const Noise& _noise, 00103 double _noiseSamplingTime 00104 ); 00105 00116 returnValue setOutputNoise( uint idx, 00117 const Noise& _noise, 00118 double _noiseSamplingTime 00119 ); 00120 00121 00130 returnValue setOutputDeadTimes( const DVector& _deadTimes 00131 ); 00132 00141 returnValue setOutputDeadTimes( double _deadTime 00142 ); 00143 00153 returnValue setOutputDeadTime( uint idx, 00154 double _deadTime 00155 ); 00156 00157 00166 virtual returnValue init( double _startTime = 0.0, 00167 const DVector& _startValue = emptyConstVector 00168 ); 00169 00170 00181 virtual returnValue step( VariablesGrid& _y 00182 ); 00183 00184 00189 inline uint getNY( ) const; 00190 00191 00198 inline Noise* getOutputNoise( uint idx 00199 ) const; 00200 00201 00208 inline double getOutputDeadTime( uint idx 00209 ) const; 00210 00215 inline DVector getOutputDeadTimes( ) const; 00216 00217 00218 00219 // 00220 // PROTECTED MEMBER FUNCTIONS: 00221 // 00222 protected: 00223 00231 returnValue delaySensorOutput( VariablesGrid& _y 00232 ); 00233 00242 returnValue getDelayedOutputGrid( const VariablesGrid& _y, 00243 VariablesGrid& _yDelayed 00244 ) const; 00245 00253 returnValue addSensorNoise( VariablesGrid& _y 00254 ) const; 00255 00256 00257 00258 // 00259 // DATA MEMBERS: 00260 // 00261 protected: 00262 00263 }; 00264 00265 00266 CLOSE_NAMESPACE_ACADO 00267 00268 00269 00270 #include <acado/transfer_device/sensor.ipp> 00271 00272 00273 #endif // ACADO_TOOLKIT_SENSOR_HPP 00274 00275 /* 00276 * end of file 00277 */