BenchmarkTaskIncreasingHorizonOpenLoop. More...

#include <benchmark_task_increasing_n_open_loop.h>

Inheritance diagram for corbo::BenchmarkTaskIncreasingHorizonOpenLoop:

Public Types
using	Ptr = std::shared_ptr< BenchmarkTaskIncreasingHorizonOpenLoop >

Public Types inherited from corbo::TaskInterface
using	Ptr = std::shared_ptr< TaskInterface >

Public Member Functions
	BenchmarkTaskIncreasingHorizonOpenLoop ()
	Default constructor. More...

void	getAvailableSignals (const Environment &environment, SignalTargetInterface &signal_target, const std::string &ns="") const override
	Retrieve available signals from the task. More...

TaskInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

void	performTask (Environment &environment, SignalTargetInterface signal_target=nullptr, std::string msg=nullptr, const std::string &ns="") override
	Perform task. More...

void	reset () override
	Reset task state. More...

bool	verify (const Environment &environment, std::string *msg=nullptr) const override
	Check if the environment and other settings satisfy all requirements for the given task. More...

Public Member Functions inherited from corbo::TaskInterface
virtual	~TaskInterface ()
	Virtuel destructor. More...

Private Attributes
double	_initial_tf = 1.0

int	_n_end = 50

int	_n_start = 1

int	_n_step = 1

OpenLoopControlTask::Ptr	_open_loop_task

bool	_publish_task_signals = false

int	_repetitions = 1

int	_shooting_num_u_per_interval = 1

double	_wait_time = 1e-6

Detailed Description

BenchmarkTaskIncreasingHorizonOpenLoop.

Remarks: The underlying controller must support open-loop control!

See also: TaskInterface Environment

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 48 of file benchmark_task_increasing_n_open_loop.h.

Member Typedef Documentation

◆ Ptr

using corbo::BenchmarkTaskIncreasingHorizonOpenLoop::Ptr = std::shared_ptr<BenchmarkTaskIncreasingHorizonOpenLoop>

Definition at line 51 of file benchmark_task_increasing_n_open_loop.h.

Constructor & Destructor Documentation

◆ BenchmarkTaskIncreasingHorizonOpenLoop()

corbo::BenchmarkTaskIncreasingHorizonOpenLoop::BenchmarkTaskIncreasingHorizonOpenLoop ( )

Default constructor.

Definition at line 44 of file benchmark_task_increasing_n_open_loop.cpp.

Member Function Documentation

◆ getAvailableSignals()

void corbo::BenchmarkTaskIncreasingHorizonOpenLoop::getAvailableSignals	(	const Environment &	environment,
		SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

overridevirtual

Retrieve available signals from the task.

Register a-priori known signals at the signal target. Registration is optional. Note, during performTask() further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).

Parameters

[in,out] signal_target Target for occuring signals [optional]

Reimplemented from corbo::TaskInterface.

Definition at line 46 of file benchmark_task_increasing_n_open_loop.cpp.

◆ getInstance()

TaskInterface::Ptr corbo::BenchmarkTaskIncreasingHorizonOpenLoop::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::TaskInterface.

Definition at line 57 of file benchmark_task_increasing_n_open_loop.h.

◆ performTask()

void corbo::BenchmarkTaskIncreasingHorizonOpenLoop::performTask	(	Environment &	environment,
		SignalTargetInterface *	signal_target = `nullptr`,
		std::string *	msg = `nullptr`,
		const std::string &	ns = `""`
	)

overridevirtual

Perform task.

Parameters

[in]	environment	Standard environment (plant, controller, observer)
[in,out]	signal_target	Target for occuring signals [optional]

Implements corbo::TaskInterface.

Definition at line 51 of file benchmark_task_increasing_n_open_loop.cpp.

◆ reset()

void corbo::BenchmarkTaskIncreasingHorizonOpenLoop::reset ( )

overridevirtual

Reset task state.

Implements corbo::TaskInterface.

Definition at line 161 of file benchmark_task_increasing_n_open_loop.cpp.

◆ verify()

bool corbo::BenchmarkTaskIncreasingHorizonOpenLoop::verify	(	const Environment &	environment,
		std::string *	msg = `nullptr`
	)		const

overridevirtual

Check if the environment and other settings satisfy all requirements for the given task.

This function can be called in order to check if all components and models are appropriate, e.g. if all input and output dimensions are chosen adequately.

Note, Environment::verify() might be invoked in order to check if controller, plant and observer are specified correctly and if they have matching dimensions.

Parameters