actuator.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_ACTUATOR_HPP
#define ACADO_TOOLKIT_ACTUATOR_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/transfer_device/transfer_device.hpp>


BEGIN_NAMESPACE_ACADO


class Actuator : public TransferDevice
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:

                Actuator( );

                Actuator(       uint _nU,
                                        uint _nP = 0,
                                        double _samplingTime = DEFAULT_SAMPLING_TIME
                                        );

                Actuator(       const Actuator& rhs
                                        );

                virtual ~Actuator( );

                Actuator& operator=(    const Actuator& rhs
                                                                );


                returnValue setControlNoise(    const Noise& _noise,
                                                                                double _noiseSamplingTime
                                                                                );

                returnValue setControlNoise(    uint idx,
                                                                                const Noise& _noise,
                                                                                double _noiseSamplingTime
                                                                                );


                returnValue setParameterNoise(  const Noise& _noise,
                                                                                double _noiseSamplingTime
                                                                                );

                returnValue setParameterNoise(  uint idx,
                                                                                const Noise& _noise,
                                                                                double _noiseSamplingTime
                                                                                );


                returnValue setControlDeadTimes(        const DVector& _deadTimes
                                                                                        );

                returnValue setControlDeadTimes(        double _deadTime
                                                                                        );

                returnValue setControlDeadTime(         uint idx,
                                                                                        double _deadTime
                                                                                        );


                returnValue setParameterDeadTimes(      const DVector& _deadTimes
                                                                                        );

                returnValue setParameterDeadTimes(      double _deadTime
                                                                                        );

                returnValue setParameterDeadTime(       uint idx,
                                                                                        double _deadTime
                                                                                        );


                virtual returnValue init(       double _startTime = 0.0,
                                                                        const DVector& _startValueU = emptyConstVector,
                                                                        const DVector& _startValueP = emptyConstVector
                                                                        );


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


                inline uint getNU( ) const;

                inline uint getNP( ) const;


                inline Noise* getControlNoise(  uint idx
                                                                                ) const;

                inline Noise* getParameterNoise(        uint idx
                                                                                        ) const;


                inline double getControlDeadTime(       uint idx
                                                                                        ) const;

                inline DVector getControlDeadTimes( ) const;


                inline double getParameterDeadTime(     uint idx
                                                                                        ) const;

                inline DVector getParameterDeadTimes( ) const;



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

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


                returnValue delayActuatorInput( VariablesGrid& _u,
                                                                                VariablesGrid& _p
                                                                                );

                returnValue getDelayedInputGrids(       const VariablesGrid& _u,
                                                                                        const VariablesGrid& _p,
                                                                                        VariablesGrid& _uDelayed,
                                                                                        VariablesGrid& _pDelayed
                                                                                        ) const;


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



        //
        // DATA MEMBERS:
        //
        protected:

                uint nU;                                                
                uint nP;                                                
};


CLOSE_NAMESPACE_ACADO


#include <acado/transfer_device/actuator.ipp>


#endif  // ACADO_TOOLKIT_ACTUATOR_HPP

/*
 *      end of file
 */