transfer_device.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_TRANSFER_DEVICE_HPP
#define ACADO_TOOLKIT_TRANSFER_DEVICE_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/simulation_environment/simulation_block.hpp>

#include <acado/noise/noise.hpp>


BEGIN_NAMESPACE_ACADO


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

                TransferDevice( );

                TransferDevice( uint _dim,
                                                BlockName _name = BN_DEFAULT,
                                                double _samplingTime = DEFAULT_SAMPLING_TIME
                                                );

                TransferDevice( const TransferDevice& rhs
                                                );

                virtual ~TransferDevice( );

                TransferDevice& operator=(      const TransferDevice& rhs
                                                                        );


                inline uint getDim( ) const;

                inline BooleanType isEmpty( ) const;


                inline BooleanType hasNoise( ) const;

                inline BooleanType hasDeadTime( ) const;



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

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

                virtual returnValue generateNoise(      double startTime,
                                                                                        double endTime,
                                                                                        VariablesGrid& currentNoise
                                                                                        ) const;



        //
        // DATA MEMBERS:
        //

        protected:

                VariablesGrid lastSignal;                                       
                Noise** additiveNoise;                                          
                DVector  noiseSamplingTimes;                                    
                DVector  deadTimes;                                                     
};


CLOSE_NAMESPACE_ACADO



#include <acado/transfer_device/transfer_device.ipp>


#endif  // ACADO_TOOLKIT_TRANSFER_DEVICE_HPP

/*
 *      end of file
 */