Public Member Functions | Protected Member Functions | List of all members

Allows to simulate the behaviour of sensors within the Process. More...

#include <sensor.hpp>

Inheritance diagram for Sensor:
Inheritance graph
[legend]

Public Member Functions

uint getNY () const
 
double getOutputDeadTime (uint idx) const
 
DVector getOutputDeadTimes () const
 
NoisegetOutputNoise (uint idx) const
 
virtual returnValue init (double _startTime=0.0, const DVector &_startValue=emptyConstVector)
 
Sensoroperator= (const Sensor &rhs)
 
 Sensor ()
 
 Sensor (uint _nY, double _samplingTime=DEFAULT_SAMPLING_TIME)
 
 Sensor (const Sensor &rhs)
 
returnValue setOutputDeadTime (uint idx, double _deadTime)
 
returnValue setOutputDeadTimes (const DVector &_deadTimes)
 
returnValue setOutputDeadTimes (double _deadTime)
 
returnValue setOutputNoise (const Noise &_noise, double _noiseSamplingTime)
 
returnValue setOutputNoise (uint idx, const Noise &_noise, double _noiseSamplingTime)
 
virtual returnValue step (VariablesGrid &_y)
 
virtual ~Sensor ()
 
- Public Member Functions inherited from TransferDevice
uint getDim () const
 
BooleanType hasDeadTime () const
 
BooleanType hasNoise () const
 
BooleanType isEmpty () const
 
TransferDeviceoperator= (const TransferDevice &rhs)
 
 TransferDevice ()
 
 TransferDevice (uint _dim, BlockName _name=BN_DEFAULT, double _samplingTime=DEFAULT_SAMPLING_TIME)
 
 TransferDevice (const TransferDevice &rhs)
 
virtual ~TransferDevice ()
 
- Public Member Functions inherited from SimulationBlock
BlockName getName () const
 
double getSamplingTime () const
 
BooleanType isDefined () const
 
SimulationBlockoperator= (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)
 
UserInteractionoperator= (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
 
Optionsoperator= (const Options &rhs)
 
Optionsoperator= (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)
 
Plottingoperator= (const Plotting &rhs)
 
virtual returnValue plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
 Plotting ()
 
 Plotting (const Plotting &rhs)
 
virtual returnValue replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
virtual ~Plotting ()
 

Protected Member Functions

returnValue addSensorNoise (VariablesGrid &_y) const
 
returnValue delaySensorOutput (VariablesGrid &_y)
 
returnValue getDelayedOutputGrid (const VariablesGrid &_y, VariablesGrid &_yDelayed) const
 
- Protected Member Functions inherited from TransferDevice
virtual returnValue generateNoise (double startTime, double endTime, VariablesGrid &currentNoise) const
 
- 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
 
virtual returnValue setupOptions ()
 
- Protected Member Functions inherited from Logging
virtual returnValue setupLogging ()
 

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
 
- Protected Attributes inherited from TransferDevice
Noise ** additiveNoise
 
DVector deadTimes
 
VariablesGrid lastSignal
 
DVector noiseSamplingTimes
 
- 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< OptionsListlists
 
- Protected Attributes inherited from Logging
std::vector< LogRecordlogCollection
 
int logIdx
 
- Protected Attributes inherited from Plotting
PlotCollection plotCollection
 

Detailed Description

Allows to simulate the behaviour of sensors within the Process.

The class Sensor allows to simulate the behaviour of sensors within the Process.

Author
Hans Joachim Ferreau, Boris Houska

Definition at line 54 of file sensor.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Sensor::Sensor ( )

Default constructor.

Definition at line 46 of file sensor.cpp.

Sensor::Sensor ( uint  _nY,
double  _samplingTime = DEFAULT_SAMPLING_TIME 
)

Constructor which takes the number of process outputs and the sampling time.

@param[in] _nY                              Number of proces outputs.
@param[in] _samplingTime    Sampling time.

Definition at line 51 of file sensor.cpp.

Sensor::Sensor ( const Sensor rhs)

Copy constructor (deep copy).

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

Definition at line 58 of file sensor.cpp.

Sensor::~Sensor ( )
virtual

Destructor.

Definition at line 63 of file sensor.cpp.

Member Function Documentation

returnValue Sensor::addSensorNoise ( VariablesGrid _y) const
protected

Adds noise to given signal.

@param[in,out]  _y          Sensor signal to be noised.
Returns
SUCCESSFUL_RETURN,
RET_GENERATING_NOISE_FAILED

Definition at line 292 of file sensor.cpp.

returnValue Sensor::delaySensorOutput ( VariablesGrid _y)
protected

Delays given signal according to the internal dead times.

@param[in,out]  _y          Sensor signal to be delayed.
Returns
SUCCESSFUL_RETURN,
RET_DELAYING_INPUTS_FAILED

Definition at line 224 of file sensor.cpp.

returnValue Sensor::getDelayedOutputGrid ( const VariablesGrid _y,
VariablesGrid _yDelayed 
) const
protected

Returns time grid for representing the given sensor signal in delayed form.

Parameters
[in]_ySensor signal to be delayed.
[out]_yDelayedTime grid for representing delayed sensor signal.
Returns
SUCCESSFUL_RETURN

Definition at line 258 of file sensor.cpp.

uint Sensor::getNY ( ) const
inline

Returns number of sensor signal components.

\return Number of sensor signal components.
double Sensor::getOutputDeadTime ( uint  idx) const
inline

Returns dead time of given component of the sensor signal.

@param[in]  idx                     Index of component.
Returns
Dead time of given component
DVector Sensor::getOutputDeadTimes ( ) const
inline

Returns dead times of the sensor signal.

Returns
Dead times of sensor signal
Noise* Sensor::getOutputNoise ( uint  idx) const
inline

Returns pointer to additive noise of given component of the sensor signal.

@param[in]  idx                     Index of component.
Returns
Pointer to additive noise of given component
returnValue Sensor::init ( double  _startTime = 0.0,
const DVector _startValue = emptyConstVector 
)
virtual

Initializes all components of the sensor and the lastSignal member based on the given start information.

Parameters
[in]_startTimeStart time.
[in]_startValueInitial value of the sensor signal.
Returns
SUCCESSFUL_RETURN

Reimplemented from TransferDevice.

Definition at line 180 of file sensor.cpp.

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

Assignment operator (deep copy).

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

Definition at line 68 of file sensor.cpp.

returnValue Sensor::setOutputDeadTime ( uint  idx,
double  _deadTime 
)

Assigns new dead time to given component of the sensor signal.

@param[in]  idx                                     Index of component.
@param[in]  _deadTimes                      New dead time.
Returns
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 160 of file sensor.cpp.

returnValue Sensor::setOutputDeadTimes ( const DVector _deadTimes)

Assigns new dead times to each component of the sensor signal.

@param[in]  _deadTimes                      New dead times.
Returns
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 125 of file sensor.cpp.

returnValue Sensor::setOutputDeadTimes ( double  _deadTime)

Assigns new dead time to all components of the sensor signal.

@param[in]  _deadTime                       New dead time.
Returns
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 144 of file sensor.cpp.

returnValue Sensor::setOutputNoise ( const Noise _noise,
double  _noiseSamplingTime 
)

Assigns new additive noise with given sampling time to all components of the sensor signal.

Parameters
[in]_noiseNew additive noise.
[in]_noiseSamplingTimeNew noise sampling time.
Returns
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 81 of file sensor.cpp.

returnValue Sensor::setOutputNoise ( uint  idx,
const Noise _noise,
double  _noiseSamplingTime 
)

Assigns new additive noise with given sampling time to given component of the sensor signal.

Parameters
[in]idxIndex of component.
[in]_noiseNew additive noise.
[in]_noiseSamplingTimeNew noise sampling time.
Returns
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 102 of file sensor.cpp.

returnValue Sensor::step ( VariablesGrid _y)
virtual

Performs one step of the sensor transforming the given signal according to the internal sensor settings.

Parameters
[in,out]_ySensor signal to be transformed.
Returns
SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_INVALID_ARGUMENTS,
RET_SENSOR_STEP_FAILED

Definition at line 192 of file sensor.cpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:26