simulation_clock.cpp
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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 
00035 #include <acado/clock/simulation_clock.hpp>
00036 
00037 
00038 
00039 BEGIN_NAMESPACE_ACADO
00040 
00041 
00042 
00043 SimulationClock::SimulationClock( ) : Clock( )
00044 {
00045 }
00046 
00047 
00048 SimulationClock::SimulationClock( const SimulationClock &rhs ) : Clock( rhs )
00049 {
00050 }
00051 
00052 
00053 SimulationClock::~SimulationClock( )
00054 {
00055 }
00056 
00057 
00058 SimulationClock& SimulationClock::operator=( const SimulationClock &rhs )
00059 {
00060         if( this != &rhs )
00061         {
00062                 Clock::operator=( rhs );
00063         }
00064 
00065     return *this;
00066 }
00067 
00068 
00069 Clock* SimulationClock::clone( ) const
00070 {
00071         return new SimulationClock( *this );
00072 }
00073 
00074 
00075 returnValue SimulationClock::start( )
00076 {
00077         if ( status != CS_STOPPED )
00078                 return ACADOERROR( RET_CLOCK_NOT_READY );
00079 
00080         status = CS_RUNNING;
00081 
00082         return SUCCESSFUL_RETURN;
00083 }
00084 
00085 
00086 returnValue SimulationClock::step(      double _timeShift
00087                                                                         )
00088 {
00089         returnValue returnvalue = stop( );
00090         if ( returnvalue != SUCCESSFUL_RETURN )
00091                 return returnvalue;
00092 
00093         elapsedTime += _timeShift;
00094 
00095         return start( );
00096 }
00097 
00098 
00099 returnValue SimulationClock::stop( )
00100 {
00101         if ( status == CS_NOT_INITIALIZED )
00102                 return ACADOERROR( RET_CLOCK_NOT_READY );
00103 
00104         if ( status == CS_STOPPED )
00105                 return SUCCESSFUL_RETURN;
00106 
00107         status = CS_STOPPED;
00108 
00109         return SUCCESSFUL_RETURN;
00110 }
00111 
00112 
00113 CLOSE_NAMESPACE_ACADO
00114 
00115 
00116 /*
00117  *      end of file
00118  */
00119 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:06