process.hpp

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/*
 *    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_PROCESS_HPP
#define ACADO_TOOLKIT_PROCESS_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/simulation_environment/simulation_block.hpp>

#include <acado/noise/noise.hpp>
#include <acado/transfer_device/actuator.hpp>
#include <acado/transfer_device/sensor.hpp>
#include <acado/curve/curve.hpp>
#include <acado/dynamic_system/dynamic_system.hpp>
#include <acado/dynamic_discretization/shooting_method.hpp>


BEGIN_NAMESPACE_ACADO



class Process : public SimulationBlock
{
        //
        //  PUBLIC MEMBER FUNCTIONS:
        //
        public:

        Process( );

                Process(        const DynamicSystem& _dynamicSystem,
                                        IntegratorType _integratorType = INT_UNKNOWN
                                        );

        Process(        const Process& rhs
                                        );

        virtual ~Process( );

        Process& operator=(     const Process& rhs
                                                        );


                returnValue setDynamicSystem(   const DynamicSystem& _dynamicSystem,
                                                                                IntegratorType _integratorType = INT_UNKNOWN
                                                                                );

                returnValue addDynamicSystemStage(      const DynamicSystem& _dynamicSystem,
                                                                                        IntegratorType _integratorType = INT_UNKNOWN
                                                                                        );


                returnValue setActuator(        const Actuator& _actuator
                                                                        );

                returnValue setSensor(  const Sensor& _sensor
                                                                );


                returnValue setProcessDisturbance(      const Curve& _processDisturbance
                                                                                        );

                returnValue setProcessDisturbance(      const VariablesGrid& _processDisturbance
                                                                                        );

                returnValue setProcessDisturbance(      const char* _processDisturbance
                                                                                        );


                returnValue initializeStartValues(      const DVector& _xStart,
                                                                                        const DVector& _xaStart = emptyConstVector
                                                                                        );

                returnValue initializeAlgebraicStates(  const DVector& _xaStart
                                                                                                );


        virtual returnValue init(       double _startTime = 0.0,
                                                                        const DVector& _xStart = emptyConstVector,
                                                                        const DVector& _uStart = emptyConstVector,
                                                                        const DVector& _pStart = emptyConstVector
                                                                        );


        virtual returnValue step(       const VariablesGrid& _u,
                                                                        const VariablesGrid& _p = emptyVariablesGrid
                                                                        );

        virtual returnValue step(       const VariablesGrid& _u,
                                                                        const DVector& _p
                                                                        );

        virtual returnValue step(       double startTime,
                                                                        double endTime,
                                                                        const DVector& _u,
                                                                        const DVector& _p = emptyConstVector
                                                                        );


        virtual returnValue run(        const VariablesGrid& _u,
                                                                        const VariablesGrid& _p = emptyVariablesGrid
                                                                        );

        virtual returnValue run(        const VariablesGrid& _u,
                                                                        const DVector& _p
                                                                        );

        virtual returnValue run(        double startTime,
                                                                        double endTime,
                                                                        const DVector& _u,
                                                                        const DVector& _p = emptyConstVector
                                                                        );


        inline returnValue getY(        VariablesGrid& _y
                                                                        ) const;


                inline uint getNU(      uint stageIdx = 0
                                                        ) const;

                inline uint getNP(      uint stageIdx = 0
                                                        ) const;

                inline uint getNW(      uint stageIdx = 0
                                                        ) const;

                inline uint getNY(      uint stageIdx = 0
                                                        ) const;


                inline uint getNumStages( ) const;


                inline BooleanType isODE(       uint stageIdx = 0
                                                                        ) const;

                inline BooleanType isDAE(       uint stageIdx = 0
                                                                        ) const;


                inline BooleanType isDiscretized(       uint stageIdx = 0
                                                                                        ) const;

                inline BooleanType isContinuous(        uint stageIdx = 0
                                                                                        ) const;


                inline BooleanType hasActuator( ) const;

                inline BooleanType hasSensor( ) const;

                inline BooleanType hasProcessDisturbance( ) const;


                virtual returnValue replot(     PlotFrequency _frequency = PLOT_IN_ANY_CASE
                                                                        );



        //
        //  PROTECTED MEMBER FUNCTIONS:
        //
        protected:

                virtual returnValue setupOptions( );

                virtual returnValue setupLogging( );


                inline uint getNX(      uint stageIdx = 0
                                                        ) const;

                inline uint getNXA(     uint stageIdx = 0
                                                        ) const;


        returnValue addStage(   const DynamicSystem  &dynamicSystem_,
                                                                const Grid           &stageIntervals,
                                                                const IntegratorType &integratorType_ = INT_UNKNOWN
                                                                );


                returnValue clear( );


                returnValue simulate(   const VariablesGrid& _u,
                                                                const VariablesGrid& _p,
                                                                const VariablesGrid& _w
                                                                );


                returnValue checkInputConsistency(      const VariablesGrid& _u,
                                                                                        const VariablesGrid& _p
                                                                                        ) const;


                returnValue calculateOutput(    OutputFcn& _outputFcn,
                                                                                const VariablesGrid* _x,
                                                                                const DVector& _xComponents,
                                                                                const VariablesGrid* _xa,
                                                                                const VariablesGrid* _p,
                                                                                const VariablesGrid* _u,
                                                                                const VariablesGrid* _w,
                                                                                VariablesGrid* _output
                                                                                ) const;

                returnValue projectToComponents(        const VariablesGrid& _x,
                                                                                        const DVector& _xComponents,
                                                                                        VariablesGrid& _output
                                                                                        ) const;


        //
        //  PROTECTED MEMBERS:
        //
        protected:

                DVector x;
                DVector xa;

                uint nDynSys;                                                           
                DynamicSystem** dynamicSystems;                         
                ShootingMethod* integrationMethod;                      
                Actuator* actuator;                                                     
                Sensor* sensor;                                                         
                Curve* processDisturbance;                                      
                VariablesGrid y;

                double lastTime;


                IntegratorType integratorType;  // sorry -- quick hack.

};


CLOSE_NAMESPACE_ACADO



#include <acado/process/process.ipp>


#endif  // ACADO_TOOLKIT_PROCESS_HPP


/*
 *      end of file
 */