simulation_environment.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_SIMULATION_ENVIRONMENT_HPP
#define ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP


#include <acado/utils/acado_utils.hpp>

#include <acado/simulation_environment/simulation_block.hpp>

#include <acado/clock/clock.hpp>
#include <acado/curve/curve.hpp>

#include <acado/process/process.hpp>
#include <acado/controller/controller.hpp>


BEGIN_NAMESPACE_ACADO



class SimulationEnvironment : public SimulationBlock
{
        //
        //  PUBLIC MEMBER FUNCTIONS:
        //
        public:

                SimulationEnvironment( );

                SimulationEnvironment(  double _startTime,
                                                                double _endTime,
                                                                Process& _process,
                                                                Controller& _controller
                                                                );
        
                SimulationEnvironment(  const SimulationEnvironment &rhs
                                                                );
        
                virtual ~SimulationEnvironment();
        
                SimulationEnvironment& operator=(       const SimulationEnvironment &rhs
                                                                                        );
        

                returnValue setProcess( Process& _process
                                                                );

                returnValue setController(      Controller& _controller
                                                                        );


                returnValue initializeAlgebraicStates(  const VariablesGrid& _xa_init
                                                                                                );

                returnValue initializeAlgebraicStates(  const char* fileName
                                                                                                );


        returnValue init(       const DVector &x0_,
                                                        const DVector &p_ = emptyConstVector
                                                        );


                returnValue step( );

                returnValue step(       double intermediateTime
                                                        );


                returnValue run( );


                inline uint getNY( ) const;

                inline uint getNU( ) const;

                inline uint getNP( ) const;


                inline uint getNumSteps( ) const;


                inline returnValue getProcessOutput(    Curve& _processOutput
                                                                                                ) const;

                inline returnValue getSampledProcessOutput(     VariablesGrid& _sampledProcessOutput
                                                                                                        );


                inline returnValue getProcessDifferentialStates(        VariablesGrid& _diffStates
                                                                                                                        );

                inline returnValue getProcessAlgebraicStates(           VariablesGrid& _algStates
                                                                                                                        );

                inline returnValue getProcessIntermediateStates(        VariablesGrid& _interStates
                                                                                                                        );


                inline returnValue getFeedbackControl(  Curve& _feedbackControl
                                                                                                ) const;

                inline returnValue getFeedbackControl(  VariablesGrid& _sampledFeedbackControl
                                                                                                );


                inline returnValue getFeedbackParameter(        Curve& _feedbackParameter
                                                                                                        ) const;

                inline returnValue getFeedbackParameter(        VariablesGrid& _sampledFeedbackParameter
                                                                                                        );



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

                virtual returnValue setupOptions( );

                virtual returnValue setupLogging( );


                double determineComputationalDelay(     double controllerRuntime
                                                                                        ) const;


        //
        //  PROTECTED MEMBERS:
        //
        protected:
                double startTime;                                                       
                double endTime;                                                         
                Process* process;                                                       
                Controller* controller;                                         
                SimulationClock simulationClock;                        
                Curve processOutput;                                            
                Curve feedbackControl;                                          
                Curve feedbackParameter;                                        
                uint nSteps;                                                            
};


CLOSE_NAMESPACE_ACADO



#include <acado/simulation_environment/simulation_environment.ipp>


#endif  // ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP


/*
 *      end of file
 */