TransferDevice Class Reference

Base class for simulating Actuator and Sensor behaviour wihtin the Process. More...

#include <transfer_device.hpp>

Inheritance diagram for TransferDevice:

Public Member Functions
uint	getDim () const
BooleanType	hasDeadTime () const
BooleanType	hasNoise () const
BooleanType	isEmpty () const
TransferDevice &	operator= (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
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 returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
virtual	~Plotting ()

Protected Member Functions
virtual returnValue	generateNoise (double startTime, double endTime, VariablesGrid &currentNoise) const
virtual returnValue	init (double _startTime=0.0, const DVector &_startValue=emptyConstVector)
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 ()

Protected Attributes
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< 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

Base class for simulating Actuator and Sensor behaviour wihtin the Process.

The class TransferDevive serves as a base class for simulating Actuator and Sensor behaviour within the Process. It is intended to collect common features of the Actuator and Sensor.

At the moment, it basically stores an array of additive noise as well as the dead times of each component. It also provides a common way to generate noise.

Author

Hans Joachim Ferreau, Boris Houska

Definition at line 61 of file transfer_device.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO TransferDevice::TransferDevice

(

)

Default constructor.

Definition at line 46 of file transfer_device.cpp.

TransferDevice::TransferDevice	(	uint	_dim,
		BlockName	_name = BN_DEFAULT,
		double	_samplingTime = DEFAULT_SAMPLING_TIME
	)

Constructor which takes the dimension, the name and the sampling time of the transfer device.

Parameters

[in]	_dim	Dimension of transfer device signal.
[in]	_name	Name of the block.
[in]	_samplingTime	Sampling time.

Note

Actuators pass the sum of their control and parameter signal dimensions.

Definition at line 54 of file transfer_device.cpp.

TransferDevice::TransferDevice

(

const TransferDevice &

rhs

)

Copy constructor (deep copy).

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

Definition at line 75 of file transfer_device.cpp.

TransferDevice::~TransferDevice ( )

virtual

Destructor.

Definition at line 98 of file transfer_device.cpp.

Member Function Documentation

returnValue TransferDevice::generateNoise ( double  startTime, double  endTime, VariablesGrid &  currentNoise  ) const

protectedvirtual

Generates additive noise on the given time interval based on the internal noise settings and sampling times.

Parameters

[in]	startTime	Start time for noise generation.
[in]	endTime	End time for noise generation.
[out]	currentNoise	Generated additive noise on given time interval.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 194 of file transfer_device.cpp.

uint TransferDevice::getDim ( ) const

inline

Returns dimension of transfer device.

Returns

Dimension of transfer device

BooleanType TransferDevice::hasDeadTime ( ) const

inline

Returns whether dead time have been specified.

Returns

BT_TRUE iff dead time have been specified,
BT_FALSE otherwise

BooleanType TransferDevice::hasNoise ( ) const

inline

Returns whether additive noise has been specified.

Returns

BT_TRUE iff additive noise has been specified,
BT_FALSE otherwise

returnValue TransferDevice::init ( double  _startTime = 0.0, const DVector &  _startValue = emptyConstVector  )

protectedvirtual

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

Parameters

[in]	_startTime	Start time.
[in]	_startValue	Initial value of the transfer device signal.

Returns

SUCCESSFUL_RETURN

Reimplemented in Sensor.

Definition at line 158 of file transfer_device.cpp.

BooleanType TransferDevice::isEmpty ( ) const

inline

Returns whether transfer device is empty (i.e. has dimension 0).

Returns

BT_TRUE iff transfer device has dimension 0,
BT_FALSE otherwise

TransferDevice & TransferDevice::operator=

(

const TransferDevice &

rhs

)

Assignment operator (deep copy).

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

Definition at line 111 of file transfer_device.cpp.

Member Data Documentation

Noise** TransferDevice::additiveNoise

protected

Array of additive noise for each component of the transfer device signal.

Definition at line 177 of file transfer_device.hpp.

DVector TransferDevice::deadTimes

protected

Dead times for each component of the transfer device signal.

Definition at line 180 of file transfer_device.hpp.

VariablesGrid TransferDevice::lastSignal

protected

Most recent transfer device signal.

Definition at line 175 of file transfer_device.hpp.

DVector TransferDevice::noiseSamplingTimes

protected

Noise sampling times for each component of the transfer device signal.

Definition at line 178 of file transfer_device.hpp.

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

• transfer_device.hpp
• transfer_device.cpp