Perform closed-loop control task. More...

#include <task_closed_loop_control.h>

Inheritance diagram for corbo::ClosedLoopControlTask:

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

Public Types inherited from corbo::TaskInterface
using	Ptr = std::shared_ptr< TaskInterface >

Public Member Functions
	ClosedLoopControlTask ()
	Default constructor. More...

void	getAvailableSignals (const Environment &environment, SignalTargetInterface &signal_target, const std::string &ns="") const override
	Retrieve available signals from the task. More...

TaskInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

void	performTask (Environment &environment, SignalTargetInterface signal_target=nullptr, std::string msg=nullptr, const std::string &ns="") override
	Perform task. More...

void	reset () override
	Reset task state. More...

void	setControlReference (ReferenceTrajectoryInterface::Ptr ureference)
	Set control input reference trajectory. More...

void	setStateReference (ReferenceTrajectoryInterface::Ptr xreference)
	Set state reference trajectory. More...

bool	verify (const Environment &environment, std::string *msg=nullptr) const override
	Check if the environment and other settings satisfy all requirements for the given task. More...

Public Member Functions inherited from corbo::TaskInterface
virtual	~TaskInterface ()
	Virtuel destructor. More...

Private Attributes
bool	_compensate_cpu_time = false

bool	_compensate_dead_time = false

OneStepPredictor	_compensator

double	_computation_delay = 0

FilterInterface::Ptr	_computation_delay_filter

double	_dt = 0.1

double	_max_dt = CORBO_INF_DBL

double	_min_dt = 0

bool	_realtime_sync = false

double	_sim_time = 10.0

TimeValueBuffer	_time_value_buffer

ReferenceTrajectoryInterface::Ptr	_ureference

bool	_use_wall_time = false

ReferenceTrajectoryInterface::Ptr	_xreference

Detailed Description

Perform closed-loop control task.

This class performs a closed-loop control task given a state and control input reference trajectory.

See also: TaskInterface 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 50 of file task_closed_loop_control.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 53 of file task_closed_loop_control.h.

Constructor & Destructor Documentation

◆ ClosedLoopControlTask()

corbo::ClosedLoopControlTask::ClosedLoopControlTask ( )

Default constructor.

Definition at line 34 of file task_closed_loop_control.cpp.

Member Function Documentation

◆ getAvailableSignals()

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

overridevirtual

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 from corbo::TaskInterface.

Definition at line 41 of file task_closed_loop_control.cpp.

◆ getInstance()

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

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::TaskInterface.

Definition at line 59 of file task_closed_loop_control.h.

◆ performTask()

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

overridevirtual

Perform task.

Parameters

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

Implements corbo::TaskInterface.

Definition at line 82 of file task_closed_loop_control.cpp.

◆ reset()

void corbo::ClosedLoopControlTask::reset ( )

overridevirtual

Reset task state.

Implements corbo::TaskInterface.

Definition at line 326 of file task_closed_loop_control.cpp.

◆ setControlReference()

void corbo::ClosedLoopControlTask::setControlReference ( ReferenceTrajectoryInterface::Ptr ureference )

inline

Set control input reference trajectory.

Definition at line 68 of file task_closed_loop_control.h.

◆ setStateReference()

void corbo::ClosedLoopControlTask::setStateReference ( ReferenceTrajectoryInterface::Ptr xreference )

inline

Set state reference trajectory.

Definition at line 66 of file task_closed_loop_control.h.

◆ verify()

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

overridevirtual

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.

Implements corbo::TaskInterface.

Definition at line 268 of file task_closed_loop_control.cpp.

Member Data Documentation

◆ _compensate_cpu_time

bool corbo::ClosedLoopControlTask::_compensate_cpu_time = false

private

Definition at line 99 of file task_closed_loop_control.h.

◆ _compensate_dead_time

bool corbo::ClosedLoopControlTask::_compensate_dead_time = false

private

Definition at line 98 of file task_closed_loop_control.h.

◆ _compensator

OneStepPredictor corbo::ClosedLoopControlTask::_compensator

private

Definition at line 107 of file task_closed_loop_control.h.

◆ _computation_delay

double corbo::ClosedLoopControlTask::_computation_delay = 0

private

Definition at line 106 of file task_closed_loop_control.h.

◆ _computation_delay_filter

FilterInterface::Ptr corbo::ClosedLoopControlTask::_computation_delay_filter

private

Definition at line 109 of file task_closed_loop_control.h.

◆ _dt

double corbo::ClosedLoopControlTask::_dt = 0.1

private

Definition at line 95 of file task_closed_loop_control.h.

◆ _max_dt

double corbo::ClosedLoopControlTask::_max_dt = CORBO_INF_DBL

private

Definition at line 101 of file task_closed_loop_control.h.

◆ _min_dt

double corbo::ClosedLoopControlTask::_min_dt = 0

private

Definition at line 100 of file task_closed_loop_control.h.

◆ _realtime_sync

bool corbo::ClosedLoopControlTask::_realtime_sync = false

private

Definition at line 96 of file task_closed_loop_control.h.

◆ _sim_time

double corbo::ClosedLoopControlTask::_sim_time = 10.0

private

Definition at line 94 of file task_closed_loop_control.h.

◆ _time_value_buffer

TimeValueBuffer corbo::ClosedLoopControlTask::_time_value_buffer

private

Definition at line 108 of file task_closed_loop_control.h.

◆ _ureference

ReferenceTrajectoryInterface::Ptr corbo::ClosedLoopControlTask::_ureference

private

Definition at line 104 of file task_closed_loop_control.h.

◆ _use_wall_time

bool corbo::ClosedLoopControlTask::_use_wall_time = false

private

Definition at line 97 of file task_closed_loop_control.h.

◆ _xreference

ReferenceTrajectoryInterface::Ptr corbo::ClosedLoopControlTask::_xreference

private

Definition at line 103 of file task_closed_loop_control.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ ClosedLoopControlTask()

Member Function Documentation

◆ getAvailableSignals()

◆ getInstance()

◆ performTask()

◆ reset()

◆ setControlReference()

◆ setStateReference()

◆ verify()

Member Data Documentation

◆ _compensate_cpu_time

◆ _compensate_dead_time

◆ _compensator

◆ _computation_delay

◆ _computation_delay_filter

◆ _dt

◆ _max_dt

◆ _min_dt

◆ _realtime_sync

◆ _sim_time

◆ _time_value_buffer

◆ _ureference

◆ _use_wall_time

◆ _xreference