corbo::Environment Class Reference

Standard environment for control tasks. More...

#include <environment.h>

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

Public Member Functions
	Environment ()
	Default constructor. More...
	Environment (ControllerInterface::Ptr controller, ObserverInterface::Ptr observer, PlantInterface::Ptr plant)
	Construct environment with a controller, observer and plant. More...
const ControllerInterface::Ptr &	getController () const
	Read access to the underlying controller. More...
ControllerInterface::Ptr	getControllerPtr ()
	Write access to the underlying controller. More...
const ObserverInterface::Ptr &	getObserver () const
	Read access to the underlying observer. More...
ObserverInterface::Ptr	getObserverPtr ()
	Write access to the underlying observer. More...
const PlantInterface::Ptr &	getPlant () const
	Read access to the underlying plant. More...
PlantInterface::Ptr	getPlantPtr ()
	Write access to the underlying plant. More...
bool	hasController () const
	Check if a controller has been specified. More...
bool	hasObserver () const
	Check if an observer has been specified. More...
bool	hasPlant () const
	Check if a plant has been specified. More...
void	reset ()
	Reset environment. More...
void	setController (ControllerInterface::Ptr controller)
	Set controller. More...
void	setObserver (ObserverInterface::Ptr observer)
	Set observer. More...
void	setPlant (PlantInterface::Ptr plant)
	Set plant. More...
bool	verify (std::string *msg=nullptr) const
	Check if the environment satisfies all requirements (dimensions, ...) More...

Private Attributes
ControllerInterface::Ptr	_controller
ObserverInterface::Ptr	_observer
PlantInterface::Ptr	_plant

Detailed Description

Standard environment for control tasks.

Usually, tasks are called with an Environment to facilitate the initialization and verification of commonly used control architectures. An Environment contains a plant, observer and controller.

See also

TaskInterface

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 49 of file environment.h.

Member Typedef Documentation

Ptr

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

Definition at line 52 of file environment.h.

Constructor & Destructor Documentation

Environment() [1/2]

corbo::Environment::Environment ( )

inline

Default constructor.

Definition at line 55 of file environment.h.

Environment() [2/2]

corbo::Environment::Environment	(	ControllerInterface::Ptr	controller,
		ObserverInterface::Ptr	observer,
		PlantInterface::Ptr	plant
	)

Construct environment with a controller, observer and plant.

Definition at line 33 of file environment.cpp.

Member Function Documentation

getController()

const ControllerInterface::Ptr& corbo::Environment::getController ( ) const

inline

Read access to the underlying controller.

Definition at line 67 of file environment.h.

getControllerPtr()

ControllerInterface::Ptr corbo::Environment::getControllerPtr ( )

inline

Write access to the underlying controller.

Definition at line 69 of file environment.h.

getObserver()

const ObserverInterface::Ptr& corbo::Environment::getObserver ( ) const

inline

Read access to the underlying observer.

Definition at line 71 of file environment.h.

getObserverPtr()

ObserverInterface::Ptr corbo::Environment::getObserverPtr ( )

inline

Write access to the underlying observer.

Definition at line 73 of file environment.h.

getPlant()

const PlantInterface::Ptr& corbo::Environment::getPlant ( ) const

inline

Read access to the underlying plant.

Definition at line 75 of file environment.h.

getPlantPtr()

PlantInterface::Ptr corbo::Environment::getPlantPtr ( )

inline

Write access to the underlying plant.

Definition at line 77 of file environment.h.

hasController()

bool corbo::Environment::hasController ( ) const

inline

Check if a controller has been specified.

Definition at line 60 of file environment.h.

hasObserver()

bool corbo::Environment::hasObserver ( ) const

inline

Check if an observer has been specified.

Definition at line 62 of file environment.h.

hasPlant()

bool corbo::Environment::hasPlant ( ) const

inline

Check if a plant has been specified.

Definition at line 64 of file environment.h.

reset()

void corbo::Environment::reset

(

)

Reset environment.

Definition at line 156 of file environment.cpp.

setController()

void corbo::Environment::setController

(

ControllerInterface::Ptr

controller

)

Set controller.

Definition at line 40 of file environment.cpp.

setObserver()

void corbo::Environment::setObserver

(

ObserverInterface::Ptr

observer

)

Set observer.

Definition at line 42 of file environment.cpp.

setPlant()

void corbo::Environment::setPlant

(

PlantInterface::Ptr

plant

)

Set plant.

Definition at line 44 of file environment.cpp.

verify()

bool corbo::Environment::verify

(

std::string *

msg = nullptr

)

const

Check if the environment satisfies all requirements (dimensions, ...)

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

Parameters

[out]

msg

The string contains issue messages and hints if available [optional]

Returns

true if verification was successfull, false otherwise.

Definition at line 46 of file environment.cpp.

Member Data Documentation

_controller

ControllerInterface::Ptr corbo::Environment::_controller

private

Definition at line 101 of file environment.h.

_observer

ObserverInterface::Ptr corbo::Environment::_observer

private

Definition at line 102 of file environment.h.

_plant

PlantInterface::Ptr corbo::Environment::_plant

private

Definition at line 103 of file environment.h.

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

• environment.h
• environment.cpp