Adapter class for plant simulation (threaded version) More...

#include <simulated_plant_threaded.h>

Inheritance diagram for corbo::SimulatedPlantThreaded:

Public Types
using	StateVector = Eigen::VectorXd

Public Types inherited from corbo::SimulatedPlant
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...

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

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

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

void	reset () override

void	setSimulationRate (double sim_rate)
	Specify rate for the simulation thread. More...

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

	SimulatedPlantThreaded ()
	Default constructor. More...

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

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

virtual	~SimulatedPlantThreaded ()

Public Member Functions inherited from corbo::SimulatedPlant
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...

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

bool	requiresFutureControls () const override

bool	requiresFutureStates () const 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...

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	~PlantInterface ()
	Virtual destructor. More...

Protected Member Functions
void	simulate ()

Private Attributes
ControlVector	_control

std::mutex	_control_mutex

std::mutex	_current_state_mutex

double	_sim_rate = 10

bool	_stop_thread = false

std::thread	_worker_thread

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

Protected Attributes inherited from corbo::SimulatedPlant
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

Detailed Description

Adapter class for plant simulation (threaded version)

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: SimulatedPlant 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 52 of file simulated_plant_threaded.h.

Member Typedef Documentation

◆ StateVector

using corbo::SimulatedPlantThreaded::StateVector = Eigen::VectorXd

Definition at line 55 of file simulated_plant_threaded.h.

Constructor & Destructor Documentation

◆ SimulatedPlantThreaded() [1/2]

corbo::SimulatedPlantThreaded::SimulatedPlantThreaded ( )

Default constructor.

Definition at line 35 of file simulated_plant_threaded.cpp.

◆ SimulatedPlantThreaded() [2/2]

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

Construct simulated plant with system dynamics and output function.

Definition at line 37 of file simulated_plant_threaded.cpp.

◆ ~SimulatedPlantThreaded()

corbo::SimulatedPlantThreaded::~SimulatedPlantThreaded ( )

virtual

Definition at line 42 of file simulated_plant_threaded.cpp.

Member Function Documentation

◆ control()

bool corbo::SimulatedPlantThreaded::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.

Reimplemented from corbo::SimulatedPlant.

Definition at line 151 of file simulated_plant_threaded.cpp.

◆ getInstance()

Ptr corbo::SimulatedPlantThreaded::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Reimplemented from corbo::SimulatedPlant.

Definition at line 65 of file simulated_plant_threaded.h.

◆ initialize()

bool corbo::SimulatedPlantThreaded::initialize ( )

overridevirtual

Initialize plant.

Reimplemented from corbo::PlantInterface.

Definition at line 51 of file simulated_plant_threaded.cpp.

◆ output()

bool corbo::SimulatedPlantThreaded::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]