Sensor Class Reference

Allows to simulate the behaviour of sensors within the Process. More...

#include <sensor.hpp>

Inheritance diagram for Sensor:

Public Member Functions
uint	getNY () const
double	getOutputDeadTime (uint idx) const
DVector	getOutputDeadTimes () const
Noise *	getOutputNoise (uint idx) const
virtual returnValue	init (double _startTime=0.0, const DVector &_startValue=emptyConstVector)
Sensor &	operator= (const Sensor &rhs)
	Sensor ()
	Sensor (uint _nY, double _samplingTime=DEFAULT_SAMPLING_TIME)
	Sensor (const Sensor &rhs)
returnValue	setOutputDeadTime (uint idx, double _deadTime)
returnValue	setOutputDeadTimes (const DVector &_deadTimes)
returnValue	setOutputDeadTimes (double _deadTime)
returnValue	setOutputNoise (const Noise &_noise, double _noiseSamplingTime)
returnValue	setOutputNoise (uint idx, const Noise &_noise, double _noiseSamplingTime)
virtual returnValue	step (VariablesGrid &_y)
virtual	~Sensor ()
Public Member Functions inherited from TransferDevice
uint	getDim () const
BooleanType	hasDeadTime () const
BooleanType	hasNoise () const
BooleanType	isEmpty () const
TransferDevice &	operator= (const TransferDevice &rhs)
	TransferDevice ()
	TransferDevice (uint _dim, BlockName _name=BN_DEFAULT, double _samplingTime=DEFAULT_SAMPLING_TIME)
	TransferDevice (const TransferDevice &rhs)
virtual	~TransferDevice ()
Public Member Functions inherited from SimulationBlock
BlockName	getName () const
double	getSamplingTime () const
BooleanType	isDefined () const
SimulationBlock &	operator= (const SimulationBlock &rhs)
returnValue	setName (BlockName _name)
returnValue	setSamplingTime (double _samplingTime)
	SimulationBlock ()
	SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)
	SimulationBlock (const SimulationBlock &rhs)
virtual	~SimulationBlock ()
Public Member Functions inherited from UserInteraction
virtual int	addPlotWindow (PlotWindow &_window)
virtual int	operator<< (PlotWindow &_window)
virtual int	operator<< (LogRecord &_record)
UserInteraction &	operator= (const UserInteraction &rhs)
	UserInteraction ()
	UserInteraction (const UserInteraction &rhs)
virtual	~UserInteraction ()
Public Member Functions inherited from Options
returnValue	addOptionsList ()
returnValue	ensureConsistency ()
returnValue	ensureConsistency ()
returnValue	get (OptionsName name, int &value) const
returnValue	get (OptionsName name, double &value) const
returnValue	get (OptionsName name, std::string &value) const
returnValue	get (uint idx, OptionsName name, int &value) const
returnValue	get (uint idx, OptionsName name, double &value) const
returnValue	get (uint idx, OptionsName name, std::string &value) const
uint	getNumOptionsLists () const
Options	getOptions (uint idx) const
Options &	operator= (const Options &rhs)
Options &	operator= (const Options &rhs)
	Options ()
	Options ()
	Options (const Options &rhs)
	Options (const Options &rhs)
	Options ()
	Options (const OptionsList &_optionsList)
returnValue	print () const
returnValue	print () const
returnValue	printOptionsList () const
returnValue	printOptionsList (uint idx) const
returnValue	set (OptionsName name, int value)
returnValue	set (OptionsName name, double value)
returnValue	set (OptionsName name, const std::string &value)
returnValue	set (uint idx, OptionsName name, int value)
returnValue	set (uint idx, OptionsName name, double value)
returnValue	set (uint idx, OptionsName name, const std::string &value)
returnValue	setOptions (const Options &arg)
returnValue	setOptions (uint idx, const Options &arg)
returnValue	setToDefault ()
returnValue	setToDefault ()
returnValue	setToFast ()
returnValue	setToFast ()
returnValue	setToMPC ()
returnValue	setToReliable ()
returnValue	setToReliable ()
	~Options ()
	~Options ()
virtual	~Options ()
Public Member Functions inherited from Logging
int	addLogRecord (LogRecord &record)
returnValue	getAll (LogName _name, MatrixVariablesGrid &values) const
returnValue	getFirst (LogName _name, DMatrix &firstValue) const
returnValue	getFirst (LogName _name, VariablesGrid &firstValue) const
returnValue	getLast (LogName _name, DMatrix &lastValue) const
returnValue	getLast (LogName _name, VariablesGrid &lastValue) const
returnValue	getLogRecord (LogRecord &_record) const
uint	getNumLogRecords () const
	Logging ()
int	operator<< (LogRecord &record)
returnValue	printLoggingInfo () const
returnValue	printNumDoubles () const
returnValue	setAll (LogName _name, const MatrixVariablesGrid &values)
returnValue	setLast (LogName _name, const DMatrix &value, double time=-INFTY)
returnValue	setLast (LogName _name, VariablesGrid &value, double time=-INFTY)
returnValue	updateLogRecord (LogRecord &_record) const
virtual	~Logging ()
Public Member Functions inherited from Plotting
int	addPlotWindow (PlotWindow &_window)
uint	getNumPlotWindows () const
returnValue	getPlotWindow (uint idx, PlotWindow &_window) const
returnValue	getPlotWindow (PlotWindow &_window) const
int	operator<< (PlotWindow &_window)
Plotting &	operator= (const Plotting &rhs)
virtual returnValue	plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
	Plotting ()
	Plotting (const Plotting &rhs)
virtual returnValue	replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
virtual	~Plotting ()

Protected Member Functions
returnValue	addSensorNoise (VariablesGrid &_y) const
returnValue	delaySensorOutput (VariablesGrid &_y)
returnValue	getDelayedOutputGrid (const VariablesGrid &_y, VariablesGrid &_yDelayed) const
Protected Member Functions inherited from TransferDevice
virtual returnValue	generateNoise (double startTime, double endTime, VariablesGrid &currentNoise) const
Protected Member Functions inherited from UserInteraction
virtual returnValue	getPlotDataFromMemberLoggings (PlotWindow &_window) const
BlockStatus	getStatus () const
returnValue	setStatus (BlockStatus _status)
Protected Member Functions inherited from Options
returnValue	addOption (OptionsName name, int value)
returnValue	addOption (OptionsName name, double value)
returnValue	addOption (OptionsName name, const std::string &value)
returnValue	addOption (uint idx, OptionsName name, int value)
returnValue	addOption (uint idx, OptionsName name, double value)
returnValue	addOption (uint idx, OptionsName name, const std::string &value)
returnValue	clearOptionsList ()
returnValue	copy (const Options &rhs)
returnValue	copy (const Options &rhs)
returnValue	declareOptionsUnchanged ()
returnValue	declareOptionsUnchanged (uint idx)
BooleanType	haveOptionsChanged () const
BooleanType	haveOptionsChanged (uint idx) const
virtual returnValue	setupOptions ()
Protected Member Functions inherited from Logging
virtual returnValue	setupLogging ()

Additional Inherited Members
Public Attributes inherited from Options
real_t	boundRelaxation
real_t	boundTolerance
int	dropBoundPriority
int_t	dropBoundPriority
int	dropEqConPriority
int_t	dropEqConPriority
int	dropIneqConPriority
int_t	dropIneqConPriority
int	enableCholeskyRefactorisation
int_t	enableCholeskyRefactorisation
int	enableDriftCorrection
int_t	enableDriftCorrection
BooleanType	enableDropInfeasibles
BooleanType	enableEqualities
BooleanType	enableFarBounds
BooleanType	enableFlippingBounds
BooleanType	enableFullLITests
BooleanType	enableInertiaCorrection
BooleanType	enableNZCTests
BooleanType	enableRamping
BooleanType	enableRegularisation
real_t	epsDen
real_t	epsFlipping
real_t	epsIterRef
real_t	epsLITests
real_t	epsNum
real_t	epsNZCTests
real_t	epsRegularisation
real_t	finalRamping
real_t	growFarBounds
real_t	initialFarBounds
real_t	initialRamping
SubjectToStatus	initialStatusBounds
real_t	maxDualJump
real_t	maxPrimalJump
int	numRefinementSteps
int_t	numRefinementSteps
int	numRegularisationSteps
int_t	numRegularisationSteps
PrintLevel	printLevel
real_t	rcondSMin
real_t	terminationTolerance
Protected Attributes inherited from TransferDevice
Noise **	additiveNoise
DVector	deadTimes
VariablesGrid	lastSignal
DVector	noiseSamplingTimes
Protected Attributes inherited from SimulationBlock
BlockName	name
RealClock	realClock
double	samplingTime
Protected Attributes inherited from UserInteraction
BlockStatus	status
Protected Attributes inherited from Options
std::vector< OptionsList >	lists
Protected Attributes inherited from Logging
std::vector< LogRecord >	logCollection
int	logIdx
Protected Attributes inherited from Plotting
PlotCollection	plotCollection

Detailed Description

Allows to simulate the behaviour of sensors within the Process.

The class Sensor allows to simulate the behaviour of sensors within the Process.

Author

Hans Joachim Ferreau, Boris Houska

Definition at line 54 of file sensor.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO Sensor::Sensor

(

)

Default constructor.

Definition at line 46 of file sensor.cpp.

Sensor::Sensor	(	uint	_nY,
		double	_samplingTime = DEFAULT_SAMPLING_TIME
	)

Constructor which takes the number of process outputs and the sampling time.

@param[in] _nY                              Number of proces outputs.
@param[in] _samplingTime    Sampling time.

Definition at line 51 of file sensor.cpp.

Sensor::Sensor

(

const Sensor &

rhs

)

Copy constructor (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 58 of file sensor.cpp.

Sensor::~Sensor ( )

virtual

Destructor.

Definition at line 63 of file sensor.cpp.

Member Function Documentation

returnValue Sensor::addSensorNoise ( VariablesGrid &  _y ) const

protected

Adds noise to given signal.

@param[in,out]  _y          Sensor signal to be noised.

Returns

SUCCESSFUL_RETURN,
RET_GENERATING_NOISE_FAILED

Definition at line 292 of file sensor.cpp.

returnValue Sensor::delaySensorOutput ( VariablesGrid &  _y )

protected

Delays given signal according to the internal dead times.

@param[in,out]  _y          Sensor signal to be delayed.

Returns

SUCCESSFUL_RETURN,
RET_DELAYING_INPUTS_FAILED

Definition at line 224 of file sensor.cpp.

returnValue Sensor::getDelayedOutputGrid ( const VariablesGrid &  _y, VariablesGrid &  _yDelayed  ) const

protected

Returns time grid for representing the given sensor signal in delayed form.

Parameters

[in]	_y	Sensor signal to be delayed.
[out]	_yDelayed	Time grid for representing delayed sensor signal.

Returns

SUCCESSFUL_RETURN

Definition at line 258 of file sensor.cpp.

uint Sensor::getNY ( ) const

inline

Returns number of sensor signal components.

\return Number of sensor signal components.

double Sensor::getOutputDeadTime ( uint  idx ) const

inline

Returns dead time of given component of the sensor signal.

@param[in]  idx                     Index of component.

Returns

Dead time of given component

DVector Sensor::getOutputDeadTimes ( ) const

inline

Returns dead times of the sensor signal.

Returns

Dead times of sensor signal

Noise* Sensor::getOutputNoise ( uint  idx ) const

inline

Returns pointer to additive noise of given component of the sensor signal.

@param[in]  idx                     Index of component.

Returns

Pointer to additive noise of given component

returnValue Sensor::init ( double  _startTime = 0.0, const DVector &  _startValue = emptyConstVector  )

virtual

Initializes all components of the sensor and the lastSignal member based on the given start information.

Parameters

[in]	_startTime	Start time.
[in]	_startValue	Initial value of the sensor signal.

Returns

SUCCESSFUL_RETURN

Reimplemented from TransferDevice.

Definition at line 180 of file sensor.cpp.

Sensor & Sensor::operator=

(

const Sensor &

rhs

)

Assignment operator (deep copy).

@param[in] rhs      Right-hand side object.

Definition at line 68 of file sensor.cpp.

returnValue Sensor::setOutputDeadTime	(	uint	idx,
		double	_deadTime
	)

Assigns new dead time to given component of the sensor signal.

@param[in]  idx                                     Index of component.
@param[in]  _deadTimes                      New dead time.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 160 of file sensor.cpp.

returnValue Sensor::setOutputDeadTimes

(

const DVector &

_deadTimes

)

Assigns new dead times to each component of the sensor signal.

@param[in]  _deadTimes                      New dead times.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 125 of file sensor.cpp.

returnValue Sensor::setOutputDeadTimes

(

double

_deadTime

)

Assigns new dead time to all components of the sensor signal.

@param[in]  _deadTime                       New dead time.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 144 of file sensor.cpp.

returnValue Sensor::setOutputNoise	(	const Noise &	_noise,
		double	_noiseSamplingTime
	)

Assigns new additive noise with given sampling time to all components of the sensor signal.

Parameters

[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 81 of file sensor.cpp.

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

Assigns new additive noise with given sampling time to given component of the sensor signal.

Parameters

[in]	idx	Index of component.
[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 102 of file sensor.cpp.

returnValue Sensor::step ( VariablesGrid &  _y )

virtual

Performs one step of the sensor transforming the given signal according to the internal sensor settings.

Parameters

[in,out]

_y

Sensor signal to be transformed.

Returns

SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_INVALID_ARGUMENTS,
RET_SENSOR_STEP_FAILED

Definition at line 192 of file sensor.cpp.

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

• sensor.hpp
• sensor.cpp