sensor.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_SENSOR_HPP
#define ACADO_TOOLKIT_SENSOR_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/transfer_device/transfer_device.hpp>


BEGIN_NAMESPACE_ACADO


class Sensor : public TransferDevice
{
    //
    // PUBLIC MEMBER FUNCTIONS:
    //
    public:

        Sensor( );

        Sensor( uint _nY,
                                double _samplingTime = DEFAULT_SAMPLING_TIME
                                );

        Sensor( const Sensor& rhs
                                );

        virtual ~Sensor( );

        Sensor& operator=(      const Sensor& rhs
                                                        );


                returnValue setOutputNoise(     const Noise& _noise,
                                                                        double _noiseSamplingTime
                                                                        );

                returnValue setOutputNoise(     uint idx,
                                                                        const Noise& _noise,
                                                                        double _noiseSamplingTime
                                                                        );


                returnValue setOutputDeadTimes( const DVector& _deadTimes
                                                                                );

                returnValue setOutputDeadTimes( double _deadTime
                                                                                );

                returnValue setOutputDeadTime(  uint idx,
                                                                                double _deadTime
                                                                                );


                virtual returnValue init(       double _startTime = 0.0,
                                                                        const DVector& _startValue = emptyConstVector
                                                                        );


                virtual returnValue step(       VariablesGrid& _y
                                                                        );


                inline uint getNY( ) const;


                inline Noise* getOutputNoise(   uint idx
                                                                                ) const;


                inline double getOutputDeadTime(        uint idx
                                                                                        ) const;

                inline DVector getOutputDeadTimes( ) const;



    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:

                returnValue delaySensorOutput(  VariablesGrid& _y
                                                                                );

                returnValue getDelayedOutputGrid(       const VariablesGrid& _y,
                                                                                        VariablesGrid& _yDelayed
                                                                                        ) const;

                returnValue addSensorNoise(     VariablesGrid& _y
                                                                        ) const;



        //
        // DATA MEMBERS:
        //
        protected:

};


CLOSE_NAMESPACE_ACADO



#include <acado/transfer_device/sensor.ipp>


#endif  // ACADO_TOOLKIT_SENSOR_HPP

/*
 *      end of file
 */