Adapter class for plant simulation. More...

#include <simulated_plant.h>

Inheritance diagram for corbo::SimulatedPlant:

Public Types
using	StateVector = Eigen::VectorXd

Public Types inherited from corbo::PlantInterface
using	ControlVector = Eigen::VectorXd

using	OutputVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< PlantInterface >

using	StateVector = Eigen::VectorXd

Public Member Functions
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="") override
	Send commands to plant. More...

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

int	getInputDimension () const override
	Return the plant input dimension (u) More...

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

int	getOutputDimension () const override
	Return the plant output dimension (y) More...

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

bool	requiresFutureControls () const override

bool	requiresFutureStates () const override

void	reset () override

bool	setInitialState (const StateVector &x_init)
	Specify an initial state x0 [SystemDynamicsInterface::getStateDimension() x 1]. More...

void	setInputDisturbance (DisturbanceInterface::Ptr disturbance)
	Set plant input disturbance model. More...

void	setIntegrator (NumericalIntegratorExplicitInterface::Ptr integrator)
	Set a numerical integrator for continuous-time dynamics. More...

void	setOutputDisturbance (DisturbanceInterface::Ptr disturbance)
	Set plant output disturbance model. More...

void	setOutputFunction (SystemOutputInterface::Ptr output)
	Set the output function of the simulated plant. More...

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

void	setStateDisturbance (DisturbanceInterface::Ptr disturbance)
	Set plant state disturbance model. More...

void	setSystemDynamics (SystemDynamicsInterface::Ptr dynamics)
	Set the system dynamics of the simulated plant. More...

	SimulatedPlant ()
	Default constructor. More...

	SimulatedPlant (SystemDynamicsInterface::Ptr dynamics, SystemOutputInterface::Ptr output)
	Construct simulated plant with system dynamics and output function. More...

Public Member Functions inherited from corbo::PlantInterface
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	initialize ()
	Initialize plant. 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...

Additional Inherited Members
Static Public Member Functions inherited from corbo::PlantInterface
static Factory< PlantInterface > &	getFactory ()
	Get access to the associated factory. More...

Detailed Description

Adapter class for plant simulation.

This class provides a PlantInterface implementation for the simulation of plants defined in terms of a state space model, in particular a SystemDynamicsInterface and a SystemOutputInterface.

In the continuous-time case, a numerical integrator solves the initial value problem w.r.t. given control inputs.

See also: SimulatedPlantThreaded PlantInterface

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 56 of file simulated_plant.h.

Member Typedef Documentation

◆ StateVector

using corbo::SimulatedPlant::StateVector = Eigen::VectorXd

Definition at line 59 of file simulated_plant.h.

Constructor & Destructor Documentation

◆ SimulatedPlant() [1/2]

corbo::SimulatedPlant::SimulatedPlant ( )

Default constructor.

Definition at line 33 of file simulated_plant.cpp.

◆ SimulatedPlant() [2/2]

corbo::SimulatedPlant::SimulatedPlant	(	SystemDynamicsInterface::Ptr	dynamics,
		SystemOutputInterface::Ptr	output
	)

Construct simulated plant with system dynamics and output function.

Definition at line 39 of file simulated_plant.cpp.

Member Function Documentation

◆ control()

bool corbo::SimulatedPlant::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 = `""`
	)

overridevirtual

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.

Implements corbo::PlantInterface.

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 91 of file simulated_plant.cpp.

◆ getAvailableSignals()

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

overridevirtual

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 from corbo::PlantInterface.

Definition at line 192 of file simulated_plant.cpp.

◆ getInputDimension()

int corbo::SimulatedPlant::getInputDimension ( ) const

inlineoverridevirtual

Return the plant input dimension (u)

Implements corbo::PlantInterface.

Definition at line 69 of file simulated_plant.h.

◆ getInstance()

Ptr corbo::SimulatedPlant::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::PlantInterface.

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 67 of file simulated_plant.h.

◆ getOutputDimension()

int corbo::SimulatedPlant::getOutputDimension ( ) const

overridevirtual

Return the plant output dimension (y)

Implements corbo::PlantInterface.

Definition at line 48 of file simulated_plant.cpp.

◆ output()

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

overridevirtual

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.

Implements corbo::PlantInterface.

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 150 of file simulated_plant.cpp.

◆ requiresFutureControls()

bool corbo::SimulatedPlant::requiresFutureControls ( ) const

inlineoverridevirtual

Implements corbo::PlantInterface.

Definition at line 73 of file simulated_plant.h.

◆ requiresFutureStates()

bool corbo::SimulatedPlant::requiresFutureStates ( ) const

inlineoverridevirtual

Implements corbo::PlantInterface.

Definition at line 75 of file simulated_plant.h.

◆ reset()

void corbo::SimulatedPlant::reset ( )

overridevirtual

Reimplemented from corbo::PlantInterface.

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 197 of file simulated_plant.cpp.

◆ setInitialState()

bool corbo::SimulatedPlant::setInitialState ( const StateVector & x_init )

Specify an initial state x0 [SystemDynamicsInterface::getStateDimension() x 1].

Definition at line 180 of file simulated_plant.cpp.

◆ setInputDisturbance()

void corbo::SimulatedPlant::setInputDisturbance ( DisturbanceInterface::Ptr disturbance )

Set plant input disturbance model.

Definition at line 174 of file simulated_plant.cpp.

◆ setIntegrator()

void corbo::SimulatedPlant::setIntegrator ( NumericalIntegratorExplicitInterface::Ptr integrator )

Set a numerical integrator for continuous-time dynamics.

Definition at line 172 of file simulated_plant.cpp.

◆ setOutputDisturbance()

void corbo::SimulatedPlant::setOutputDisturbance ( DisturbanceInterface::Ptr disturbance )

Set plant output disturbance model.

Definition at line 176 of file simulated_plant.cpp.

◆ setOutputFunction()

void corbo::SimulatedPlant::setOutputFunction ( SystemOutputInterface::Ptr output )

Set the output function of the simulated plant.

Definition at line 170 of file simulated_plant.cpp.

◆ setState()

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

inlineoverridevirtual

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

Parameters

[in] Desired state vector

Returns: true if successful, false otherwise

Reimplemented from corbo::PlantInterface.

Reimplemented in corbo::SimulatedPlantThreaded.

Definition at line 91 of file simulated_plant.h.

◆ setStateDisturbance()

void corbo::SimulatedPlant::setStateDisturbance ( DisturbanceInterface::Ptr disturbance )

Set plant state disturbance model.

Definition at line 178 of file simulated_plant.cpp.

◆ setSystemDynamics()

void corbo::SimulatedPlant::setSystemDynamics ( SystemDynamicsInterface::Ptr dynamics )

Set the system dynamics of the simulated plant.

Definition at line 162 of file simulated_plant.cpp.

Member Data Documentation

◆ _current_control

ControlVector corbo::SimulatedPlant::_current_control

protected

Definition at line 138 of file simulated_plant.h.

◆ _current_state

StateVector corbo::SimulatedPlant::_current_state

protected

Definition at line 137 of file simulated_plant.h.

◆ _dynamics

SystemDynamicsInterface::Ptr corbo::SimulatedPlant::_dynamics

protected

Definition at line 125 of file simulated_plant.h.

◆ _initial_state

StateVector corbo::SimulatedPlant::_initial_state

protected

Definition at line 136 of file simulated_plant.h.

◆ _input_disturbance

DisturbanceInterface::Ptr corbo::SimulatedPlant::_input_disturbance

protected

Definition at line 130 of file simulated_plant.h.

◆ _integrator

NumericalIntegratorExplicitInterface::Ptr corbo::SimulatedPlant::_integrator

protected

Definition at line 128 of file simulated_plant.h.

◆ _output

SystemOutputInterface::Ptr corbo::SimulatedPlant::_output

protected

Definition at line 126 of file simulated_plant.h.

◆ _output_disturbance

DisturbanceInterface::Ptr corbo::SimulatedPlant::_output_disturbance

protected

Definition at line 131 of file simulated_plant.h.

◆ _state_disturbance

DisturbanceInterface::Ptr corbo::SimulatedPlant::_state_disturbance

protected

Definition at line 132 of file simulated_plant.h.

◆ _time_value_buffer

TimeValueBuffer corbo::SimulatedPlant::_time_value_buffer

protected

Definition at line 134 of file simulated_plant.h.

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

Protected Attributes
ControlVector	_current_control

StateVector	_current_state

SystemDynamicsInterface::Ptr	_dynamics

StateVector	_initial_state

DisturbanceInterface::Ptr	_input_disturbance

NumericalIntegratorExplicitInterface::Ptr	_integrator

SystemOutputInterface::Ptr	_output

DisturbanceInterface::Ptr	_output_disturbance

DisturbanceInterface::Ptr	_state_disturbance

TimeValueBuffer	_time_value_buffer

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ StateVector

Constructor & Destructor Documentation

◆ SimulatedPlant() [1/2]

◆ SimulatedPlant() [2/2]

Member Function Documentation

◆ control()

◆ getAvailableSignals()

◆ getInputDimension()

◆ getInstance()

◆ getOutputDimension()

◆ output()

◆ requiresFutureControls()

◆ requiresFutureStates()

◆ reset()

◆ setInitialState()

◆ setInputDisturbance()

◆ setIntegrator()

◆ setOutputDisturbance()

◆ setOutputFunction()

◆ setState()

◆ setStateDisturbance()

◆ setSystemDynamics()

Member Data Documentation

◆ _current_control

◆ _current_state

◆ _dynamics

◆ _initial_state

◆ _input_disturbance

◆ _integrator

◆ _output

◆ _output_disturbance

◆ _state_disturbance

◆ _time_value_buffer