corbo::TaskInterface Class Reference

Interface class for tasks. More...

#include <task_interface.h>

Inheritance diagram for corbo::TaskInterface:

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

Public Member Functions
virtual void	getAvailableSignals (const Environment &environment, SignalTargetInterface &signal_target, const std::string &ns="") const
	Retrieve available signals from the task. More...
virtual Ptr	getInstance () const =0
	Return a newly created shared instance of the implemented class. More...
virtual void	performTask (Environment &environment, SignalTargetInterface *signal_target=nullptr, std::string *msg=nullptr, const std::string &ns="")=0
	Perform task. More...
virtual void	reset ()=0
	Reset task state. More...
virtual bool	verify (const Environment &environment, std::string *msg=nullptr) const =0
	Check if the environment and other settings satisfy all requirements for the given task. More...
virtual	~TaskInterface ()
	Virtuel destructor. More...

Detailed Description

Interface class for tasks.

Possible task implementations can be the closed-loop control of a plant, open-loop control, benchmarking, ...

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. But a particular task does not need to rely on an Environment only but can contain more objects or replace objects (e.g. multiple controllers, ...).

Remarks

This interface is provided with factory support (TaskFactory).

See also

Environment

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 60 of file task_interface.h.

Member Typedef Documentation

Ptr

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

Definition at line 63 of file task_interface.h.

Constructor & Destructor Documentation

~TaskInterface()

virtual corbo::TaskInterface::~TaskInterface ( )

inlinevirtual

Virtuel destructor.

Definition at line 66 of file task_interface.h.

Member Function Documentation

getAvailableSignals()

virtual void corbo::TaskInterface::getAvailableSignals ( const Environment &  environment, SignalTargetInterface &  signal_target, const std::string &  ns = ""  ) const

inlinevirtual

Retrieve available signals from the task.

Register a-priori known signals at the signal target. Registration is optional. Note, during performTask() 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::ClosedLoopControlTask, corbo::OpenLoopControlTask, corbo::BenchmarkTaskIncreasingHorizonOpenLoop, and corbo::BenchmarkTaskVaryingInitialState.

Definition at line 103 of file task_interface.h.

getInstance()

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

pure virtual

Return a newly created shared instance of the implemented class.

Implemented in corbo::ClosedLoopControlTask, corbo::OpenLoopControlTask, corbo::BenchmarkTaskIncreasingHorizonOpenLoop, and corbo::BenchmarkTaskVaryingInitialState.

performTask()

virtual void corbo::TaskInterface::performTask ( Environment &  environment, SignalTargetInterface *  signal_target = nullptr, std::string *  msg = nullptr, const std::string &  ns = ""  )

pure virtual

Perform task.

Parameters

[in]	environment	Standard environment (plant, controller, observer)
[in,out]	signal_target	Target for occuring signals [optional]

Implemented in corbo::ClosedLoopControlTask, corbo::OpenLoopControlTask, corbo::BenchmarkTaskIncreasingHorizonOpenLoop, and corbo::BenchmarkTaskVaryingInitialState.

reset()

virtual void corbo::TaskInterface::reset ( )

pure virtual

Reset task state.

Implemented in corbo::ClosedLoopControlTask, corbo::OpenLoopControlTask, corbo::BenchmarkTaskIncreasingHorizonOpenLoop, and corbo::BenchmarkTaskVaryingInitialState.

verify()

virtual bool corbo::TaskInterface::verify ( const Environment &  environment, std::string *  msg = nullptr  ) const

pure virtual

Check if the environment and other settings satisfy all requirements for the given task.

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

Note, Environment::verify() might be invoked in order to check if controller, plant and observer are specified correctly and if they have matching dimensions.

Parameters

[in]	environment	Standard environment (plant, controller, observer)
[out]	msg	The string contains issue messages and hints if available [optional]

Returns

true if verification was successfull, false otherwise.

Implemented in corbo::ClosedLoopControlTask, corbo::OpenLoopControlTask, corbo::BenchmarkTaskIncreasingHorizonOpenLoop, and corbo::BenchmarkTaskVaryingInitialState.

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

• task_interface.h