Simulates the process to be controlled based on a dynamic model. More...

#include <process.hpp>

Inheritance diagram for Process:

[legend]

Public Member Functions
returnValue	addDynamicSystemStage (const DynamicSystem &_dynamicSystem, IntegratorType _integratorType=INT_UNKNOWN)

uint	getNP (uint stageIdx=0) const

uint	getNU (uint stageIdx=0) const

uint	getNumStages () const

uint	getNW (uint stageIdx=0) const

uint	getNY (uint stageIdx=0) const

returnValue	getY (VariablesGrid &_y) const

BooleanType	hasActuator () const

BooleanType	hasProcessDisturbance () const

BooleanType	hasSensor () const

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

returnValue	initializeAlgebraicStates (const DVector &_xaStart)

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

BooleanType	isContinuous (uint stageIdx=0) const

BooleanType	isDAE (uint stageIdx=0) const

BooleanType	isDiscretized (uint stageIdx=0) const

BooleanType	isODE (uint stageIdx=0) const

Process &	operator= (const Process &rhs)

	Process ()

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

	Process (const Process &rhs)

virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

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)

returnValue	setActuator (const Actuator &_actuator)

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

returnValue	setProcessDisturbance (const Curve &_processDisturbance)

returnValue	setProcessDisturbance (const VariablesGrid &_processDisturbance)

returnValue	setProcessDisturbance (const char *_processDisturbance)

returnValue	setSensor (const Sensor &_sensor)

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	~Process ()

Public Member Functions inherited from SimulationBlock
BlockName	getName () const

double	getSamplingTime () const

BooleanType	isDefined () const

SimulationBlock &	operator= (const SimulationBlock &rhs)

returnValue	setName (BlockName _name)

returnValue	setSamplingTime (double _samplingTime)

	SimulationBlock ()

	SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)

	SimulationBlock (const SimulationBlock &rhs)

virtual	~SimulationBlock ()

Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)

virtual int	operator<< (PlotWindow &_window)

virtual int	operator<< (LogRecord &_record)

UserInteraction &	operator= (const UserInteraction &rhs)

	UserInteraction ()

	UserInteraction (const UserInteraction &rhs)

virtual	~UserInteraction ()

Public Member Functions inherited from Options
returnValue	addOptionsList ()

returnValue	ensureConsistency ()

returnValue	ensureConsistency ()

returnValue	get (OptionsName name, int &value) const

returnValue	get (OptionsName name, double &value) const

returnValue	get (OptionsName name, std::string &value) const

returnValue	get (uint idx, OptionsName name, int &value) const

returnValue	get (uint idx, OptionsName name, double &value) const

returnValue	get (uint idx, OptionsName name, std::string &value) const

uint	getNumOptionsLists () const

Options	getOptions (uint idx) const

Options &	operator= (const Options &rhs)

Options &	operator= (const Options &rhs)

	Options ()

	Options ()

	Options (const Options &rhs)

	Options (const Options &rhs)

	Options ()

	Options (const OptionsList &_optionsList)

returnValue	print () const

returnValue	print () const

returnValue	printOptionsList () const

returnValue	printOptionsList (uint idx) const

returnValue	set (OptionsName name, int value)

returnValue	set (OptionsName name, double value)

returnValue	set (OptionsName name, const std::string &value)

returnValue	set (uint idx, OptionsName name, int value)

returnValue	set (uint idx, OptionsName name, double value)

returnValue	set (uint idx, OptionsName name, const std::string &value)

returnValue	setOptions (const Options &arg)

returnValue	setOptions (uint idx, const Options &arg)

returnValue	setToDefault ()

returnValue	setToDefault ()

returnValue	setToFast ()

returnValue	setToFast ()

returnValue	setToMPC ()

returnValue	setToReliable ()

returnValue	setToReliable ()

	~Options ()

	~Options ()

virtual	~Options ()

Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)

returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const

returnValue	getFirst (LogName _name, DMatrix &firstValue) const

returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const

returnValue	getLast (LogName _name, DMatrix &lastValue) const

returnValue	getLast (LogName _name, VariablesGrid &lastValue) const

returnValue	getLogRecord (LogRecord &_record) const

uint	getNumLogRecords () const

	Logging ()

int	operator<< (LogRecord &record)

returnValue	printLoggingInfo () const

returnValue	printNumDoubles () const

returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)

returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)

returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)

returnValue	updateLogRecord (LogRecord &_record) const

virtual	~Logging ()

Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)

uint	getNumPlotWindows () const

returnValue	getPlotWindow (uint idx, PlotWindow &_window) const

returnValue	getPlotWindow (PlotWindow &_window) const

int	operator<< (PlotWindow &_window)

Plotting &	operator= (const Plotting &rhs)

virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)

	Plotting ()

	Plotting (const Plotting &rhs)

virtual	~Plotting ()

Protected Member Functions
returnValue	addStage (const DynamicSystem &dynamicSystem_, const Grid &stageIntervals, const IntegratorType &integratorType_=INT_UNKNOWN)

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

returnValue	clear ()

uint	getNX (uint stageIdx=0) const

uint	getNXA (uint stageIdx=0) const

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

virtual returnValue	setupLogging ()

virtual returnValue	setupOptions ()

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

Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const

BlockStatus	getStatus () const

returnValue	setStatus (BlockStatus _status)

Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)

returnValue	addOption (OptionsName name, double value)

returnValue	addOption (OptionsName name, const std::string &value)

returnValue	addOption (uint idx, OptionsName name, int value)

returnValue	addOption (uint idx, OptionsName name, double value)

returnValue	addOption (uint idx, OptionsName name, const std::string &value)

returnValue	clearOptionsList ()

returnValue	copy (const Options &rhs)

returnValue	copy (const Options &rhs)

returnValue	declareOptionsUnchanged ()

returnValue	declareOptionsUnchanged (uint idx)

BooleanType	haveOptionsChanged () const

BooleanType	haveOptionsChanged (uint idx) const

Protected Attributes
Actuator *	actuator

DynamicSystem **	dynamicSystems

ShootingMethod *	integrationMethod

IntegratorType	integratorType

double	lastTime

uint	nDynSys

Curve *	processDisturbance

Sensor *	sensor

DVector	x

DVector	xa

VariablesGrid	y

Protected Attributes inherited from SimulationBlock
BlockName	name

RealClock	realClock

double	samplingTime

Protected Attributes inherited from UserInteraction
BlockStatus	status

Protected Attributes inherited from Options
std::vector< OptionsList >	lists

Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection

int	logIdx

Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation

real_t	boundTolerance

int	dropBoundPriority

int_t	dropBoundPriority

int	dropEqConPriority

int_t	dropEqConPriority

int	dropIneqConPriority

int_t	dropIneqConPriority

int	enableCholeskyRefactorisation

int_t	enableCholeskyRefactorisation

int	enableDriftCorrection

int_t	enableDriftCorrection

BooleanType	enableDropInfeasibles

BooleanType	enableEqualities

BooleanType	enableFarBounds

BooleanType	enableFlippingBounds

BooleanType	enableFullLITests

BooleanType	enableInertiaCorrection

BooleanType	enableNZCTests

BooleanType	enableRamping

BooleanType	enableRegularisation

real_t	epsDen

real_t	epsFlipping

real_t	epsIterRef

real_t	epsLITests

real_t	epsNum

real_t	epsNZCTests

real_t	epsRegularisation

real_t	finalRamping

real_t	growFarBounds

real_t	initialFarBounds

real_t	initialRamping

SubjectToStatus	initialStatusBounds

real_t	maxDualJump

real_t	maxPrimalJump

int	numRefinementSteps

int_t	numRefinementSteps

int	numRegularisationSteps

int_t	numRegularisationSteps

PrintLevel	printLevel

real_t	rcondSMin

real_t	terminationTolerance

Detailed Description

Simulates the process to be controlled based on a dynamic model.

The class Process is one of the two main building-blocks within the SimulationEnvironment and complements the Controller. It simulates the process to be controlled based on a dynamic model.

The Process simulates the dynamic model based on the controls, and optionally parameters, passed. Before using these inputs, they can be transformed by an Actuator. After the simulation, the outputs can be transformed by a Sensor. That way, actuator/sensor delays or noise can be introduced to yield more realistic simulation results. Moreover, in case the dynamic model depends on Disturbances, their values are specified by the user by assigning the processDisturbance member.

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 71 of file process.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Process::Process ( )

Default constructor.

Definition at line 50 of file process.cpp.

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

Constructor which takes the dynamic system and the type of the integrator used for simulation.

Parameters

[in]	_dynamicSystem	Dynamic system to be used for simulation.
[in]	_integratorType	Type of integrator to be used for simulation.

Note: This constructor takes the dynamic system of the first model stage, multi-stage models can be simulated by adding further dynamic systems (however, this feature is not functional yet!).

Definition at line 71 of file process.cpp.

Process::Process ( const Process & rhs )

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 100 of file process.cpp.

Process::~Process ( )

virtual

Destructor.

Definition at line 144 of file process.cpp.

Member Function Documentation

returnValue Process::addDynamicSystemStage	(	const DynamicSystem &	_dynamicSystem,
		IntegratorType	_integratorType = `INT_UNKNOWN`
	)

Assigns new dynamic system stage to be used for simulation.

@param[in] _dynamicSystem   Dynamic system to be used for simulation.
@param[in] _integratorType  Type of integrator to be used for simulation.

\note Multi-stage models are not yet supported!

Returns: SUCCESSFUL_RETURN,
RET_NOT_YET_IMPLEMENTED

Definition at line 238 of file process.cpp.

returnValue Process::addStage	(	const DynamicSystem &	dynamicSystem_,
		const Grid &	stageIntervals,
		const IntegratorType &	integratorType_ = `INT_UNKNOWN`
	)

protected

Internally adds a new dynamic system stage to be used for simulation.

@param[in] _dynamicSystem   Dynamic system to be used for simulation.
@param[in] stageIntervals   Dummy grid.
@param[in] _integratorType  Type of integrator to be used for simulation.

\note Multi-stage models are not yet supported!

Returns: SUCCESSFUL_RETURN

Definition at line 778 of file process.cpp.

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

protected

Calculates the process output based on the simulated states by evaluating the output function of the dynamic system.

Parameters

[in]	_x	Differential states.
[in]	_xComponents	Global components of differential states actually used.
[in]	_xa	Algebraic states.
[in]	_p	Parameters.
[in]	_u	Controls.
[in]	_w	Disturbances.
[in]	_p	Parameters.
[out]	_output	Time-varying process output.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 992 of file process.cpp.

returnValue Process::checkInputConsistency	(	const VariablesGrid &	_u,
		const VariablesGrid &	_p
	)		const

protected

Checks consistency of the given inputs (dimensions, time grids etc.).

@param[in]  _u              Time-varying controls.
@param[in]  _p              Time-varying parameters.

Returns: SUCCESSFUL_RETURN,
RET_CONTROL_DIMENSION_MISMATCH,
RET_PARAMETER_DIMENSION_MISMATCH,
RET_INVALID_ARGUMENTS

Definition at line 957 of file process.cpp.

returnValue Process::clear ( )

protected

Clears all dynamic systems and all members.

Returns: SUCCESSFUL_RETURN

Definition at line 797 of file process.cpp.

uint Process::getNP ( uint stageIdx = 0 ) const

inline

Returns number of parameter signals (at given stage) expected by the process.

@param[in]  stageIdx        Index of stage.

Returns: Number of parameter signals (at given stage)

uint Process::getNU ( uint stageIdx = 0 ) const

inline

Returns number of control signals (at given stage) expected by the process.

@param[in]  stageIdx        Index of stage.

\return Number of control signals (at given stage)

uint Process::getNumStages ( ) const

inline

Returns number of stages of the dynamic model.

Returns: Number of stages of the dynamic model

uint Process::getNW ( uint stageIdx = 0 ) const

inline

Returns number of disturbances (at given stage) used within the process.

@param[in]  stageIdx        Index of stage.

Returns: Number of disturbances (at given stage)

uint Process::getNX ( uint stageIdx = 0 ) const

inlineprotected

Returns number of differential states (at given stage) of the dynamic model.

@param[in]  stageIdx        Index of stage.

Returns: Number of differential states

uint Process::getNXA ( uint stageIdx = 0 ) const

inlineprotected

Returns number of algebraic states (at given stage) of the dynamic model.

@param[in]  stageIdx        Index of stage.

Returns: Number of algebraic states

uint Process::getNY ( uint stageIdx = 0 ) const

inline

Returns number of process outputs (at given stage).

@param[in]  stageIdx        Index of stage.

Returns: Number of process outputs (at given stage)

returnValue Process::getY ( VariablesGrid & _y ) const

inline

Returns output of the process.

@param[out]  _y                     Output of the process.

Returns: SUCCESSFUL_RETURN

BooleanType Process::hasActuator ( ) const

inline

Returns whether process comprises an actuator.

Returns: BT_TRUE iff process comprises an actuator,
BT_FALSE otherwise

BooleanType Process::hasProcessDisturbance ( ) const

inline

Returns whether process comprises a process disturbance.

Returns: BT_TRUE iff process comprises a process disturbance,
BT_FALSE otherwise

BooleanType Process::hasSensor ( ) const

inline

Returns whether process comprises a sensor.

Returns: BT_TRUE iff process comprises a sensor,
BT_FALSE otherwise

returnValue Process::init	(	double	_startTime = `0.0`,
		const DVector &	_xStart = `emptyConstVector`,
		const DVector &	_uStart = `emptyConstVector`,
		const DVector &	_pStart = `emptyConstVector`
	)

virtual

Initializes the simulation with given start values and performs a number of consistency checks.

Parameters

[in]	_startTime	Start time of simulation.
[in]	_xStart	Initial value for differential states.
[in]	_uStart	Initial value for controls.
[in]	_pStart	Initial value for parameters.

Returns: SUCCESSFUL_RETURN,
RET_PROCESS_INIT_FAILED,
RET_NO_DYNAMICSYSTEM_SPECIFIED,
RET_DIFFERENTIAL_STATE_DIMENSION_MISMATCH,
RET_ALGEBRAIC_STATE_DIMENSION_MISMATCH,
RET_CONTROL_DIMENSION_MISMATCH,
RET_PARAMETER_DIMENSION_MISMATCH,
RET_DISTURBANCE_DIMENSION_MISMATCH,
RET_WRONG_DISTURBANCE_HORIZON,
RET_INCOMPATIBLE_ACTUATOR_SAMPLING_TIME,
RET_INCOMPATIBLE_SENSOR_SAMPLING_TIME

Definition at line 353 of file process.cpp.

returnValue Process::initializeAlgebraicStates ( const DVector & _xaStart )

Initializes simulation with given start value for algebraic states.

@param[in]  _xaStart        Initial value for algebraic states.

Returns: SUCCESSFUL_RETURN

Definition at line 345 of file process.cpp.

returnValue Process::initializeStartValues	(	const DVector &	_xStart,
		const DVector &	_xaStart = `emptyConstVector`
	)

Initializes simulation with given start values.

@param[in]  _xStart         Initial value for differential states.
@param[in]  _xaStart        Initial value for algebraic states.

Returns: SUCCESSFUL_RETURN

Definition at line 330 of file process.cpp.

BooleanType Process::isContinuous ( uint stageIdx = 0 ) const

inline

Returns whether dynamic model (at given stage) is continuous in time.

@param[in]  stageIdx        Index of stage.

Returns: BT_TRUE iff dynamic model is continuous in time,
BT_FALSE otherwise

BooleanType Process::isDAE ( uint stageIdx = 0 ) const

inline

Returns whether dynamic model (at given stage) is a DAE.

@param[in]  stageIdx        Index of stage.

Returns: BT_TRUE iff dynamic model is a DAE,
BT_FALSE otherwise

BooleanType Process::isDiscretized ( uint stageIdx = 0 ) const

inline

Returns whether dynamic model (at given stage) is discretized in time.

@param[in]  stageIdx        Index of stage.

Returns: BT_TRUE iff dynamic model is discretized in time,
BT_FALSE otherwise

BooleanType Process::isODE ( uint stageIdx = 0 ) const

inline

Returns whether dynamic model (at given stage) is an ODE.

@param[in]  stageIdx        Index of stage.

Returns: BT_TRUE iff dynamic model is an ODE,
BT_FALSE otherwise

Process & Process::operator= ( const Process & rhs )

Assignment operator (deep copy).

    @param[in] rhs  Right-hand side object.

Definition at line 150 of file process.cpp.

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

protected

Projects differential states to global components actually used.

@param[in]  _x                              Differential states.
@param[in]  _xComponents    Global components of differential states actually used.
@param[out] _output                 Projected differential states.

Returns: SUCCESSFUL_RETURN

Definition at line 1028 of file process.cpp.

returnValue Process::replot ( PlotFrequency _frequency = PLOT_IN_ANY_CASE )

virtual

Customized function for plotting process variables.

@param[in] _frequency   Frequency determining at which time instants the window is to be plotted.

Returns: SUCCESSFUL_RETURN

Reimplemented from Plotting.

Definition at line 678 of file process.cpp.

returnValue Process::run	(	const VariablesGrid &	_u,
		const VariablesGrid &	_p = `emptyVariablesGrid`
	)

virtual

Initializes simulation and performs one step based on given inputs.

@param[in]  _u              Time-varying controls.
@param[in]  _p              Time-varying parameters.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_PROCESS_STEP_FAILED,
RET_PROCESS_STEP_FAILED_DISTURBANCE,
RET_INVALID_ARGUMENTS

Definition at line 632 of file process.cpp.

returnValue Process::run	(	const VariablesGrid &	_u,
		const DVector &	_p
	)

virtual

Initializes simulation and performs one step based on given inputs.

@param[in]  _u              Time-varying controls.
@param[in]  _p              Time-constant parameters.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_PROCESS_STEP_FAILED,
RET_PROCESS_STEP_FAILED_DISTURBANCE,
RET_INVALID_ARGUMENTS

Definition at line 647 of file process.cpp.

returnValue Process::run	(	double	startTime,
		double	endTime,
		const DVector &	_u,
		const DVector &	_p = `emptyConstVector`
	)

virtual

Initializes simulation and performs one step based on given inputs.

@param[in]  startTime       Start time of simulation step.
@param[in]  endTime         End time of simulation step.
@param[in]  _u                      Time-constant controls.
@param[in]  _p                      Time-constant parameters.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_PROCESS_STEP_FAILED,
RET_PROCESS_STEP_FAILED_DISTURBANCE,
RET_INVALID_ARGUMENTS

Definition at line 659 of file process.cpp.

returnValue Process::setActuator ( const Actuator & _actuator )

Assigns new actuator to be used for simulation.

@param[in]  _actuator               New actuator.

Returns: SUCCESSFUL_RETURN

Definition at line 254 of file process.cpp.

returnValue Process::setDynamicSystem	(	const DynamicSystem &	_dynamicSystem,
		IntegratorType	_integratorType = `INT_UNKNOWN`
	)

Assigns new dynamic system to be used for simulation. All previously assigned dynamic systems will be deleted.

Parameters

[in]	_dynamicSystem	Dynamic system to be used for simulation.
[in]	_integratorType	Type of integrator to be used for simulation.

Returns: SUCCESSFUL_RETURN

Definition at line 204 of file process.cpp.

returnValue Process::setProcessDisturbance ( const Curve & _processDisturbance )

Assigns new process disturbance to be used for simulation.

@param[in]  _processDisturbance             New sensor.

Returns: SUCCESSFUL_RETURN

Definition at line 289 of file process.cpp.

returnValue Process::setProcessDisturbance ( const VariablesGrid & _processDisturbance )

Assigns new process disturbance to be used for simulation.

@param[in]  _processDisturbance             New sensor.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 303 of file process.cpp.

returnValue Process::setProcessDisturbance ( const char * _processDisturbance )

Assigns new process disturbance to be used for simulation.

@param[in]  _processDisturbance             New sensor.

Returns: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Definition at line 316 of file process.cpp.

returnValue Process::setSensor ( const Sensor & _sensor )

Assigns new sensor to be used for simulation.

@param[in]  _sensor         New sensor.

Returns: SUCCESSFUL_RETURN

Definition at line 271 of file process.cpp.

returnValue Process::setupLogging ( )

protectedvirtual

Sets-up default logging information.

Returns: SUCCESSFUL_RETURN

Reimplemented from Logging.

Definition at line 745 of file process.cpp.

returnValue Process::setupOptions ( )

protectedvirtual

Sets-up default options.

Returns: SUCCESSFUL_RETURN

Reimplemented from Options.

Definition at line 711 of file process.cpp.

returnValue Process::simulate	(	const VariablesGrid &	_u,
		const VariablesGrid &	_p,
		const VariablesGrid &	_w
	)

protected

Actually calls the integrator for performing a simulation. All simulated results are logged internally.

Parameters

[in]	_u	Time-varying controls.
[in]	_p	Time-varying parameters.
[in]	_w	Time-varying disturbances.

Returns: SUCCESSFUL_RETURN

Definition at line 827 of file process.cpp.

returnValue Process::step	(	const VariablesGrid &	_u,
		const VariablesGrid &	_p = `emptyVariablesGrid`
	)

virtual

Performs one step of the simulation based on given inputs.

@param[in]  _u              Time-varying controls.
@param[in]  _p              Time-varying parameters.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_PROCESS_STEP_FAILED,
RET_PROCESS_STEP_FAILED_DISTURBANCE,
RET_INVALID_ARGUMENTS

Definition at line 508 of file process.cpp.

returnValue Process::step	(	const VariablesGrid &	_u,
		const DVector &	_p
	)

virtual

Performs one step of the simulation based on given inputs.

@param[in]  _u              Time-varying controls.
@param[in]  _p              Time-constant parameters.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_PROCESS_STEP_FAILED,
RET_PROCESS_STEP_FAILED_DISTURBANCE,
RET_INVALID_ARGUMENTS

Definition at line 601 of file process.cpp.

returnValue Process::step	(	double	startTime,
		double	endTime,
		const DVector &	_u,
		const DVector &	_p = `emptyConstVector`
	)

virtual

Performs one step of the simulation based on given inputs.

@param[in]  startTime       Start time of simulation step.
@param[in]  endTime         End time of simulation step.
@param[in]  _u                      Time-constant controls.
@param[in]  _p                      Time-constant parameters.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_PROCESS_STEP_FAILED,
RET_PROCESS_STEP_FAILED_DISTURBANCE,
RET_INVALID_ARGUMENTS

Definition at line 613 of file process.cpp.

Member Data Documentation

Actuator* Process::actuator

protected

Actuator.

Definition at line 610 of file process.hpp.

DynamicSystem** Process::dynamicSystems

protected

Dynamic system to be used for simulation.

Definition at line 606 of file process.hpp.

ShootingMethod* Process::integrationMethod

protected

Integration method to be used for simulation.

Definition at line 608 of file process.hpp.

IntegratorType Process::integratorType

protected

Definition at line 619 of file process.hpp.

double Process::lastTime

protected

Definition at line 616 of file process.hpp.

uint Process::nDynSys

protected

Number of dynamic systems.

Definition at line 605 of file process.hpp.

Curve* Process::processDisturbance

protected

Process disturbance block.

Definition at line 612 of file process.hpp.

Sensor* Process::sensor

protected

Sensor.

Definition at line 611 of file process.hpp.

DVector Process::x

protected

Definition at line 602 of file process.hpp.

DVector Process::xa

protected

Definition at line 603 of file process.hpp.

VariablesGrid Process::y

protected

Definition at line 614 of file process.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation