Interface class for plants. More...

#include <plant_interface.h>

Inheritance diagram for corbo::PlantInterface:

Public Types
using	ControlVector = Eigen::VectorXd

using	OutputVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< PlantInterface >

using	StateVector = Eigen::VectorXd

Public Member Functions
virtual bool	control (const ControlVector &u, const Duration &dt, const Time &t, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")
	Send commands to plant. More...

virtual bool	control (const TimeSeries::ConstPtr &u_sequence, const TimeSeries::ConstPtr &x_sequence, const Duration &dt, const Time &t, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")=0
	Send commands to plant. More...

virtual void	getAvailableSignals (SignalTargetInterface &signal_target, const std::string &ns="") const
	Retrieve available signals from the plant. More...

virtual int	getInputDimension () const =0
	Return the plant input dimension (u) More...

virtual Ptr	getInstance () const =0
	Return a newly created shared instance of the implemented class. More...

virtual int	getOutputDimension () const =0
	Return the plant output dimension (y) More...

virtual bool	initialize ()
	Initialize plant. More...

virtual bool	output (OutputVector &output, const Time &t, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")=0
	Retrieve current plant output (measurements) More...

virtual bool	requiresFutureControls () const =0

virtual bool	requiresFutureStates () const =0

virtual void	reset ()

virtual bool	setState (const Eigen::Ref< const Eigen::VectorXd > &state)
	Set/move plant to a desired state (if possible) More...

virtual void	stop ()
	Stop plant (you might probably use this to set the plant into a safe setpoint) More...

virtual	~PlantInterface ()
	Virtual destructor. More...

Static Public Member Functions
static Factory< PlantInterface > &	getFactory ()
	Get access to the associated factory. More...

Detailed Description

Interface class for plants.

This class specifies methods that are required to be implemented by specific plants in order to allow their general utilization in a variety of control tasks.

Remarks: This interface is provided with factory support (PlantFactoryPlantFactory).

See also: SimulatedPlant

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 54 of file plant_interface.h.

Member Typedef Documentation

◆ ControlVector

using corbo::PlantInterface::ControlVector = Eigen::VectorXd

Definition at line 58 of file plant_interface.h.

◆ OutputVector

using corbo::PlantInterface::OutputVector = Eigen::VectorXd

Definition at line 60 of file plant_interface.h.

◆ Ptr

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

Definition at line 57 of file plant_interface.h.

◆ StateVector

using corbo::PlantInterface::StateVector = Eigen::VectorXd

Definition at line 59 of file plant_interface.h.

Constructor & Destructor Documentation

◆ ~PlantInterface()

virtual corbo::PlantInterface::~PlantInterface ( )

inlinevirtual

Virtual destructor.

Definition at line 63 of file plant_interface.h.

Member Function Documentation

◆ control() [1/2]

bool corbo::PlantInterface::control	(	const ControlVector &	u,
		const Duration &	dt,
		const Time &	t,
		SignalTargetInterface *	signal_target = `nullptr`,
		const std::string &	ns = `""`
	)

virtual

Send commands to plant.

Parameters

[in]	u	Control command that is commanded to the plant [getInputDimension() x 1]
[in]	dt	Specify the intended duration for the signal (usually only relevant for simulation)
[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 transmission of commands was successful, otherwise false.

Definition at line 29 of file plant_interface.cpp.

◆ control() [2/2]

virtual bool corbo::PlantInterface::control	(	const TimeSeries::ConstPtr &	u_sequence,
		const TimeSeries::ConstPtr &	x_sequence,
		const Duration &	dt,
		const Time &	t,
		SignalTargetInterface *	signal_target = `nullptr`,
		const std::string &	ns = `""`
	)

pure virtual

Send commands to plant.

Parameters

[in]	u_sequence	Sequence of controls that are commanded to the plant
[in]	x_sequence	Sequence of states that are commanded to the plant
[in]	dt	Specify the intended duration for the signal (usually only relevant for simulation)
[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 transmission of commands was successful, otherwise false.

Implemented in corbo::SimulatedPlant, and corbo::SimulatedPlantThreaded.

◆ getAvailableSignals()

virtual void corbo::PlantInterface::getAvailableSignals	(	SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

inlinevirtual

Retrieve available signals from the plant.

Register a-priori known signals at the signal target. Registration is optional. Note, during control() or output() 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]

Reimplemented in corbo::SimulatedPlant.

Definition at line 135 of file plant_interface.h.

◆ getFactory()

static Factory<PlantInterface>& corbo::PlantInterface::getFactory ( )

inlinestatic

Get access to the associated factory.

Definition at line 69 of file plant_interface.h.

◆ getInputDimension()

virtual int corbo::PlantInterface::getInputDimension ( ) const

pure virtual

Return the plant input dimension (u)

Implemented in corbo::SimulatedPlant.

◆ getInstance()

virtual Ptr corbo::PlantInterface::getInstance ( ) const

pure virtual

Return a newly created shared instance of the implemented class.

Implemented in corbo::SimulatedPlant, and corbo::SimulatedPlantThreaded.

◆ getOutputDimension()

virtual int corbo::PlantInterface::getOutputDimension ( ) const

pure virtual

Return the plant output dimension (y)

Implemented in corbo::SimulatedPlant.

◆ initialize()

virtual bool corbo::PlantInterface::initialize ( )

inlinevirtual

Initialize plant.

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 81 of file plant_interface.h.

◆ output()

virtual bool corbo::PlantInterface::output	(	OutputVector &	output,
		const Time &	t,
		SignalTargetInterface *	signal_target = `nullptr`,
		const std::string &	ns = `""`
	)

pure virtual

Retrieve current plant output (measurements)

Parameters

[out]	output	Plant output will be written to this vector [getOutputDimension() x 1]
[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 receiving of measurements was successful, otherwise false.

Implemented in corbo::SimulatedPlant, and corbo::SimulatedPlantThreaded.

◆ requiresFutureControls()

virtual bool corbo::PlantInterface::requiresFutureControls ( ) const

pure virtual

Implemented in corbo::SimulatedPlant.

◆ requiresFutureStates()

virtual bool corbo::PlantInterface::requiresFutureStates ( ) const

pure virtual

Implemented in corbo::SimulatedPlant.

◆ reset()

virtual void corbo::PlantInterface::reset ( )

inlinevirtual

Reimplemented in corbo::SimulatedPlant, and corbo::SimulatedPlantThreaded.

Definition at line 86 of file plant_interface.h.

◆ setState()

virtual bool corbo::PlantInterface::setState ( const Eigen::Ref< const Eigen::VectorXd > & state )

inlinevirtual

Set/move plant to a desired state (if possible)

Parameters

[in] Desired state vector

Returns: true if successful, false otherwise

Reimplemented in corbo::SimulatedPlant, and corbo::SimulatedPlantThreaded.

Definition at line 142 of file plant_interface.h.

◆ stop()

virtual void corbo::PlantInterface::stop ( )

inlinevirtual

Stop plant (you might probably use this to set the plant into a safe setpoint)

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 84 of file plant_interface.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ ControlVector

◆ OutputVector

◆ Ptr

◆ StateVector

Constructor & Destructor Documentation

◆ ~PlantInterface()

Member Function Documentation

◆ control() [1/2]

◆ control() [2/2]

◆ getAvailableSignals()

◆ getFactory()

◆ getInputDimension()

◆ getInstance()

◆ getOutputDimension()

◆ initialize()

◆ output()

◆ requiresFutureControls()

◆ requiresFutureStates()

◆ reset()

◆ setState()

◆ stop()