Interface class for observers.
More...
#include <observer_interface.h>
Interface class for observers.
This class specifies methods that are required to be implemented by specific observers in order to allow their general utilization in a variety of control tasks.
An observer takes the measured plant output as input and computes an estimate of a complete system state (w.r.t. a system model).
- See also
- NoObserver
- 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 58 of file observer_interface.h.
◆ OutputVector
◆ Ptr
◆ StateVector
◆ UPtr
◆ ~ObserverInterface()
| virtual corbo::ObserverInterface::~ObserverInterface |
( |
| ) |
|
|
inlinevirtual |
◆ getAvailableSignals()
| virtual void corbo::ObserverInterface::getAvailableSignals |
( |
SignalTargetInterface & |
signal_target, |
|
|
const std::string & |
ns = "" |
|
) |
| const |
|
inlinevirtual |
Retrieve available signals from the observer.
Register a-priori known signals at the signal target. Registration is optional. Note, during observe() execution 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] |
Definition at line 116 of file observer_interface.h.
◆ getFactory()
◆ getInstance()
| virtual Ptr corbo::ObserverInterface::getInstance |
( |
| ) |
const |
|
pure virtual |
Return a newly created shared instance of the implemented class.
◆ getOutputDimension()
| virtual int corbo::ObserverInterface::getOutputDimension |
( |
| ) |
const |
|
pure virtual |
Return the dimension of the supported plant output.
This is not the output of the observer (actually it is the input) but the output of the plant.
- Returns
- the supported plants output dimension
◆ getStateDimension()
| virtual int corbo::ObserverInterface::getStateDimension |
( |
| ) |
const |
|
pure virtual |
Return the dimension of the observed state.
- Returns
- the state dimension
◆ observe()
Perform actual observer step / state estimation.
- Parameters
-
| [in] | y | Current plant output [getOutputDimension() x 1] |
| [out] | x | Estimated state vector [getStateDimension() x 1] |
| [in] | dt | Last sampling interval length (does not (!) mean that the subsequent one will be identical) |
| [in] | t | Current time stamp (can be sim-time or system-time, but compatible to state and control references) |
| [in,out] | signal_target | Target for occuring signals [optional] |
- Returns
- true if step was successful and computation of
u was successful, false otherwise.
◆ reset()
| virtual void corbo::ObserverInterface::reset |
( |
| ) |
|
|
inlinevirtual |
The documentation for this class was generated from the following file: