transfer_device.hpp
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1 /*
2  * This file is part of ACADO Toolkit.
3  *
4  * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
5  * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
6  * Milan Vukov, Rien Quirynen, KU Leuven.
7  * Developed within the Optimization in Engineering Center (OPTEC)
8  * under supervision of Moritz Diehl. All rights reserved.
9  *
10  * ACADO Toolkit is free software; you can redistribute it and/or
11  * modify it under the terms of the GNU Lesser General Public
12  * License as published by the Free Software Foundation; either
13  * version 3 of the License, or (at your option) any later version.
14  *
15  * ACADO Toolkit is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18  * Lesser General Public License for more details.
19  *
20  * You should have received a copy of the GNU Lesser General Public
21  * License along with ACADO Toolkit; if not, write to the Free Software
22  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
23  *
24  */
25 
26 
33 #ifndef ACADO_TOOLKIT_TRANSFER_DEVICE_HPP
34 #define ACADO_TOOLKIT_TRANSFER_DEVICE_HPP
35 
36 
39 
40 #include <acado/noise/noise.hpp>
41 
42 
44 
45 
62 {
63  //
64  // PUBLIC MEMBER FUNCTIONS:
65  //
66  public:
67 
70  TransferDevice( );
71 
81  TransferDevice( uint _dim,
82  BlockName _name = BN_DEFAULT,
83  double _samplingTime = DEFAULT_SAMPLING_TIME
84  );
85 
91  );
92 
95  virtual ~TransferDevice( );
96 
102  );
103 
104 
109  inline uint getDim( ) const;
110 
116  inline BooleanType isEmpty( ) const;
117 
118 
124  inline BooleanType hasNoise( ) const;
125 
131  inline BooleanType hasDeadTime( ) const;
132 
133 
134 
135  //
136  // PROTECTED MEMBER FUNCTIONS:
137  //
138  protected:
139 
148  virtual returnValue init( double _startTime = 0.0,
149  const DVector& _startValue = emptyConstVector
150  );
151 
162  virtual returnValue generateNoise( double startTime,
163  double endTime,
164  VariablesGrid& currentNoise
165  ) const;
166 
167 
168 
169  //
170  // DATA MEMBERS:
171  //
172 
173  protected:
174 
181 };
182 
183 
185 
186 
187 
188 #include <acado/transfer_device/transfer_device.ipp>
189 
190 
191 #endif // ACADO_TOOLKIT_TRANSFER_DEVICE_HPP
192 
193 /*
194  * end of file
195  */
BooleanType isEmpty() const
virtual ~TransferDevice()
Provides a time grid consisting of vector-valued optimization variables at each grid point...
Allows to pass back messages to the calling function.
Base class for generating pseudo-random noise for simulating the Process.
Definition: noise.hpp:56
BEGIN_NAMESPACE_ACADO typedef unsigned int uint
Definition: acado_types.hpp:42
BlockName
#define CLOSE_NAMESPACE_ACADO
BooleanType hasDeadTime() const
BooleanType hasNoise() const
uint getDim() const
static const DVector emptyConstVector
Definition: vector.hpp:336
VariablesGrid lastSignal
virtual returnValue generateNoise(double startTime, double endTime, VariablesGrid &currentNoise) const
virtual returnValue init(double _startTime=0.0, const DVector &_startValue=emptyConstVector)
void rhs(const real_t *x, real_t *f)
const double DEFAULT_SAMPLING_TIME
Base class for building-blocks of the SimulationEnvironment.
DVector noiseSamplingTimes
#define BEGIN_NAMESPACE_ACADO
TransferDevice & operator=(const TransferDevice &rhs)
Base class for simulating Actuator and Sensor behaviour wihtin the Process.


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