/* * 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 * */ /** * \file include/acado/noise/uniform_noise.hpp * \author Boris Houska, Hans Joachim Ferreau */ #ifndef ACADO_TOOLKIT_UNIFORM_NOISE_HPP #define ACADO_TOOLKIT_UNIFORM_NOISE_HPP #include BEGIN_NAMESPACE_ACADO /** * \brief Generates pseudo-random uniformly distributed noise for simulating the Process. * * \ingroup BasicDataStructures * * The class UniformNoise generates pseudo-random uniformly distributed noise * for simulating the Process within the SimulationEnvironment. * * \author Hans Joachim Ferreau, Boris Houska */ class UniformNoise : public Noise { // // PUBLIC MEMBER FUNCTIONS: // public: /** Default constructor. */ UniformNoise( ); /** Constructor which takes lower and upper limits of the random variable. * The dimension of these limit vector determine the dimension of the * random variable. * * @param[in] _lowerLimit Lower limit for each component. * @param[in] _upperLimit Upper limit for each component. */ UniformNoise( const DVector& _lowerLimit, const DVector& _upperLimit ); /** Constructor which takes the dimension of the random variable as well as * as common values for the lower and upper limits of all components. * * @param[in] _dim Dimension of random variable. * @param[in] _lowerLimit Common lower limit for all components. * @param[in] _upperLimit Common upper limit for all components. */ UniformNoise( uint _dim, double _lowerLimit, double _upperLimit ); /** Copy constructor (deep copy). * * @param[in] rhs Right-hand side object. */ UniformNoise( const UniformNoise& rhs ); /** Destructor. */ virtual ~UniformNoise( ); /** Assignment Operator (deep copy) * * @param[in] rhs Right-hand side object. */ UniformNoise& operator=( const UniformNoise& rhs ); /** Clone constructor (deep copy). * * \return Pointer to deep copy of base class type */ virtual UniformNoise* clone( ) const; /** Clone constructor for a given noise component (deep copy). * * @param[in] idx Right-hand side object. * * \return Pointer to deep copy of base class type */ virtual UniformNoise* clone( uint idx ) const; /** Assigns new lower and upper limits on the random variable. * * @param[in] _lowerLimit New lower limits for each component. * @param[in] _upperLimit New upper limits for each component. * * \return SUCCESSFUL_RETURN, \n * RET_VECTOR_DIMENSION_MISMATCH, \n * RET_INVALID_ARGUMENTS */ returnValue setLimits( const DVector& _lowerLimit, const DVector& _upperLimit ); /** Assigns new lower and upper limits on the random variable. * * @param[in] _lowerLimit New common lower limit for all components. * @param[in] _upperLimit New common upper limit for all components. * * \return SUCCESSFUL_RETURN, \n * RET_INVALID_ARGUMENTS */ returnValue setLimits( double _lowerLimit, double _upperLimit ); /** Assigns new lower and upper limit on the component of the random variable * with given index. * * @param[in] idx Index of component. * @param[in] _lowerLimit New lower limit. * @param[in] _upperLimit New upper limit. * * \return SUCCESSFUL_RETURN, \n * RET_INDEX_OUT_OF_BOUNDS, \n * RET_INVALID_ARGUMENTS */ returnValue setLimit( uint idx, double _lowerLimit, double _upperLimit ); /** Initializes noise generation and performs a couple of consistency checks. * Initialization of the pseudo-random number generator can be based on * a seed in order to allow exact reproduction of generated noise. If seed * is not specified (i.e. 0), a seed is obtain from the system clock. * * @param[in] seed Seed for pseudo-random number generator. * * \return SUCCESSFUL_RETURN, \n * RET_INVALID_NOISE_SETTINGS, \n * RET_NO_NOISE_SETTINGS */ virtual returnValue init( uint seed = 0 ); /** Generates a single noise vector based on current internal settings. * * @param[out] _w Generated noise vector. * * \return SUCCESSFUL_RETURN, \n * RET_BLOCK_NOT_READY, \n * RET_VECTOR_DIMENSION_MISMATCH */ virtual returnValue step( DVector& _w ); /** Generates a noise vector sequence based on current internal settings. * Noise is generated for each grid point of the VariablesGrid passed. * * @param[in,out] _w Generated noise vector sequence. * * \return SUCCESSFUL_RETURN, \n * RET_BLOCK_NOT_READY, \n * RET_VECTOR_DIMENSION_MISMATCH */ virtual returnValue step( VariablesGrid& _w ); /** Returns lower limits of the random variable. * * \return Lower limits of the random variable */ inline const DVector& getLowerLimit( ) const; /** Returns upper limits of the random variable. * * \return Upper limits of the random variable */ inline const DVector& getUpperLimit( ) const; // // PROTECTED MEMBER FUNCTIONS: // protected: // // PROTECTED MEMBERS: // protected: DVector lowerLimit; /**< Lower limit for each component. */ DVector upperLimit; /**< Upper limit for each component. */ }; CLOSE_NAMESPACE_ACADO #include #endif // ACADO_TOOLKIT_UNIFORM_NOISE_HPP /* * end of file */