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165 lines
4.1 KiB
165 lines
4.1 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef ACADO_TOOLKIT_SIMULATION_BLOCK_HPP
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#define ACADO_TOOLKIT_SIMULATION_BLOCK_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/clock/clock.hpp>
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#include <acado/user_interaction/user_interaction.hpp>
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/**
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* \file include/acado/simulation_environment/simulation_block.hpp
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* \author Boris Houska, Hans Joachim Ferreau
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*/
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Base class for building-blocks of the SimulationEnvironment.
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*
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* \ingroup AuxiliaryFunctionality
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*
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* The class SimulationBlock serves as base class for all building-blocks of the
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* SimulationEnvironment. All common functionality, like storing of the sampling time,
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* should be collected here.
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*
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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class SimulationBlock : public UserInteraction
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor.
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*/
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SimulationBlock( );
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/** Constructor which takes the name of the block and the sampling time.
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*
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* @param[in] _name Name of the block, see documentation of BlockName for details.
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* @param[in] _samplingTime Sampling time of the block (has to be positive).
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*/
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SimulationBlock( BlockName _name,
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double _samplingTime = DEFAULT_SAMPLING_TIME
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);
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/** Copy constructor (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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SimulationBlock( const SimulationBlock& rhs
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);
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/** Destructor.
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*/
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virtual ~SimulationBlock( );
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/** Assignment Operator (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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SimulationBlock& operator=( const SimulationBlock& rhs
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);
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/** Returns whether the block has been defined (i.e. setup properly).
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*
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* \return BT_TRUE iff block has been defined, \n
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* BT_FALSE otherwise
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*/
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inline BooleanType isDefined( ) const;
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/** Returns name of the block.
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*
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* \return Name of the block
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*/
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inline BlockName getName( ) const;
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/** Returns sampling time of the block.
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*
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* \return Sampling time of the block
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*/
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inline double getSamplingTime( ) const;
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/** Assigns new name to the block.
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*
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* @param[in] _name New name.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue setName( BlockName _name
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);
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/** Assigns new sampling time to the block.
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*
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* @param[in] _samplingTime New sampling time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS
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*/
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inline returnValue setSamplingTime( double _samplingTime
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);
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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//
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// PROTECTED MEMBERS:
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//
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protected:
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BlockName name; /**< Name of the block, see documentation of BlockName for details. */
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double samplingTime; /**< Sampling time of the block. */
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RealClock realClock; /**< Clock for real time measurements to be optionally used in derived classes. */
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/simulation_environment/simulation_block.ipp>
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#endif // ACADO_TOOLKIT_SIMULATION_BLOCK_HPP
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/*
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* end of file
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*/
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