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

#include <actuator.hpp>

Inheritance diagram for Actuator:

[legend]

Public Member Functions
	Actuator ()

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

	Actuator (const Actuator &rhs)

double	getControlDeadTime (uint idx) const

DVector	getControlDeadTimes () const

Noise *	getControlNoise (uint idx) const

uint	getNP () const

uint	getNU () const

double	getParameterDeadTime (uint idx) const

DVector	getParameterDeadTimes () const

Noise *	getParameterNoise (uint idx) const

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

Actuator &	operator= (const Actuator &rhs)

returnValue	setControlDeadTime (uint idx, double _deadTime)

returnValue	setControlDeadTimes (const DVector &_deadTimes)

returnValue	setControlDeadTimes (double _deadTime)

returnValue	setControlNoise (const Noise &_noise, double _noiseSamplingTime)

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

returnValue	setParameterDeadTime (uint idx, double _deadTime)

returnValue	setParameterDeadTimes (const DVector &_deadTimes)

returnValue	setParameterDeadTimes (double _deadTime)

returnValue	setParameterNoise (const Noise &_noise, double _noiseSamplingTime)

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

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

virtual	~Actuator ()

Public Member Functions inherited from TransferDevice
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
returnValue	addActuatorNoise (VariablesGrid &_u, VariablesGrid &_p) const

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

Protected Member Functions inherited from TransferDevice
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
uint	nP

uint	nU

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< 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

Allows to simulate the behaviour of actuators within the Process.

The class Actuator allows to simulate the behaviour of actuators within the Process.

Author: Hans Joachim Ferreau, Boris Houska

Definition at line 54 of file actuator.hpp.

Constructor & Destructor Documentation

◆ Actuator() [1/3]

BEGIN_NAMESPACE_ACADO Actuator::Actuator ( )

Default constructor.

Definition at line 46 of file actuator.cpp.

◆ Actuator() [2/3]

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

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

@param[in] _nU                              Number of control inputs to the process.
@param[in] _nP                              Number of parameter inputs to the process.
@param[in] _samplingTime    Sampling time.

Definition at line 53 of file actuator.cpp.

◆ Actuator() [3/3]

Actuator::Actuator ( const Actuator & rhs )

Copy constructor (deep copy).

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

Definition at line 63 of file actuator.cpp.

◆ ~Actuator()

Actuator::~Actuator ( )

virtual

Destructor.

Definition at line 70 of file actuator.cpp.

Member Function Documentation

◆ addActuatorNoise()

returnValue Actuator::addActuatorNoise	(	VariablesGrid &	_u,
		VariablesGrid &	_p
	)		const

protected

Adds noise to given signals.

@param[in,out]  _u          Actuator control signal to be noised.
@param[in,out]  _p          Actuator parameter signal to be noised.

Returns: SUCCESSFUL_RETURN,
RET_GENERATING_NOISE_FAILED

Definition at line 498 of file actuator.cpp.

◆ checkInputConsistency()

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

protected

Checks whether the two actuator signal are valid and compatible.

@param[in]  _u              Actuator control signal.
@param[in]  _p              Actuator parameter signal.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_CONTROL_DIMENSION_MISMATCH,
RET_PARAMETER_DIMENSION_MISMATCH

Definition at line 340 of file actuator.cpp.

◆ delayActuatorInput()

returnValue Actuator::delayActuatorInput	(	VariablesGrid &	_u,
		VariablesGrid &	_p
	)

protected

Delays given signals according to the internal dead times.

@param[in,out]  _u          Actuator control signal to be delayed.
@param[in,out]  _p          Actuator parameter signal to be delayed.

Returns: SUCCESSFUL_RETURN,
RET_DELAYING_INPUTS_FAILED

Definition at line 375 of file actuator.cpp.

◆ getControlDeadTime()

double Actuator::getControlDeadTime ( uint idx ) const

inline

Returns dead time of given component of the actuator control signal.

@param[in]  idx                     Index of component.

Returns: Dead time of given component

◆ getControlDeadTimes()

DVector Actuator::getControlDeadTimes ( ) const

inline

Returns dead times of the actuator control signal.

Returns: Dead times of actuator control signal

◆ getControlNoise()

Noise* Actuator::getControlNoise ( uint idx ) const

inline

Returns pointer to additive noise of given component of the actuator control signal.

@param[in]  idx                     Index of component.

Returns: Pointer to additive noise of given component

◆ getDelayedInputGrids()

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

protected

Returns time grids for representing the given actuator signals in delayed form.

Parameters

[in]	_u	Actuator control signal to be delayed.
[in]	_p	Actuator parameter signal to be delayed.
[out]	_uDelayed	Time grid for representing delayed actuator control signal.
[out]	_pDelayed	Time grid for representing delayed actuator parameter signal.

Returns: SUCCESSFUL_RETURN

Definition at line 434 of file actuator.cpp.

◆ getNP()

uint Actuator::getNP ( ) const

inline

Returns number of actuator parameter signal components.

\return Number of actuator parameter signal components.

◆ getNU()

uint Actuator::getNU ( ) const

inline

Returns number of actuator control signal components.

\return Number of actuator control signal components.

◆ getParameterDeadTime()

double Actuator::getParameterDeadTime ( uint idx ) const

inline

Returns dead time of given component of the actuator parameter signal.

@param[in]  idx                     Index of component.

Returns: Dead time of given component

◆ getParameterDeadTimes()

DVector Actuator::getParameterDeadTimes ( ) const

inline

Returns dead times of the actuator parameter signal.

Returns: Dead times of actuator parameter signal

◆ getParameterNoise()

Noise* Actuator::getParameterNoise ( uint idx ) const

inline

Returns pointer to additive noise of given component of the actuator parameter signal.

@param[in]  idx                     Index of component.

Returns: Pointer to additive noise of given component

◆ init()

returnValue Actuator::init	(	double	_startTime = `0.0`,
		const DVector &	_startValueU = `emptyConstVector`,
		const DVector &	_startValueP = `emptyConstVector`
	)

virtual

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

Parameters

[in]	_startTime	Start time.
[in]	_startValueU	Initial value of the actuator control signal.
[in]	_startValueP	Initial value of the actuator parameter signal.

Returns: SUCCESSFUL_RETURN

Definition at line 286 of file actuator.cpp.

◆ operator=()

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

Assignment operator (deep copy).

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

Definition at line 75 of file actuator.cpp.

◆ setControlDeadTime()

returnValue Actuator::setControlDeadTime	(	uint	idx,
		double	_deadTime
	)

Assigns new dead time to given component of the actuator control 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 211 of file actuator.cpp.

◆ setControlDeadTimes() [1/2]

returnValue Actuator::setControlDeadTimes ( const DVector & _deadTimes )

Assigns new dead times to each component of the actuator control signal.

@param[in]  _deadTimes                      New dead times.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 176 of file actuator.cpp.

◆ setControlDeadTimes() [2/2]

returnValue Actuator::setControlDeadTimes ( double _deadTime )

Assigns new dead time to all components of the actuator control signal.

@param[in]  _deadTime                       New dead time.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 195 of file actuator.cpp.

◆ setControlNoise() [1/2]

returnValue Actuator::setControlNoise	(	const Noise &	_noise,
		double	_noiseSamplingTime
	)

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

Parameters

[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 89 of file actuator.cpp.

◆ setControlNoise() [2/2]

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

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

Parameters

[in]	idx	Index of component.
[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 110 of file actuator.cpp.

◆ setParameterDeadTime()

returnValue Actuator::setParameterDeadTime	(	uint	idx,
		double	_deadTime
	)

Assigns new dead time to given component of the actuator parameter 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 266 of file actuator.cpp.

◆ setParameterDeadTimes() [1/2]

returnValue Actuator::setParameterDeadTimes ( const DVector & _deadTimes )

Assigns new dead times to each component of the actuator parameter signal.

@param[in]  _deadTimes                      New dead times.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 231 of file actuator.cpp.

◆ setParameterDeadTimes() [2/2]

returnValue Actuator::setParameterDeadTimes ( double _deadTime )

Assigns new dead time to all components of the actuator parameter signal.

@param[in]  _deadTime                       New dead time.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 250 of file actuator.cpp.

◆ setParameterNoise() [1/2]

returnValue Actuator::setParameterNoise	(	const Noise &	_noise,
		double	_noiseSamplingTime
	)

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

Parameters

[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 132 of file actuator.cpp.

◆ setParameterNoise() [2/2]

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

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

Parameters

[in]	idx	Index of component.
[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 153 of file actuator.cpp.

◆ step()

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

virtual

Performs one step of the actuator transforming the given signals according to the internal actuator settings.

Parameters

[in,out]	_u	Actuator control signal to be transformed.
[in,out]	_p	Actuator parameter signal to be transformed.

Returns: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_INVALID_ARGUMENTS,
RET_ACTUATOR_STEP_FAILED

Definition at line 307 of file actuator.cpp.

Member Data Documentation

◆ nP

uint Actuator::nP

protected

Number of actuator parameter signal components.

Definition at line 390 of file actuator.hpp.

◆ nU

uint Actuator::nU

protected

Number of actuator control signal components.

Definition at line 389 of file actuator.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

◆ Actuator() [1/3]

◆ Actuator() [2/3]

◆ Actuator() [3/3]

◆ ~Actuator()

Member Function Documentation

◆ addActuatorNoise()

◆ checkInputConsistency()

◆ delayActuatorInput()

◆ getControlDeadTime()

◆ getControlDeadTimes()

◆ getControlNoise()

◆ getDelayedInputGrids()

◆ getNP()

◆ getNU()

◆ getParameterDeadTime()

◆ getParameterDeadTimes()

◆ getParameterNoise()

◆ init()

◆ operator=()

◆ setControlDeadTime()

◆ setControlDeadTimes() [1/2]

◆ setControlDeadTimes() [2/2]

◆ setControlNoise() [1/2]

◆ setControlNoise() [2/2]

◆ setParameterDeadTime()

◆ setParameterDeadTimes() [1/2]

◆ setParameterDeadTimes() [2/2]

◆ setParameterNoise() [1/2]

◆ setParameterNoise() [2/2]

◆ step()

Member Data Documentation

◆ nP

◆ nU