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277 lines
6.9 KiB
277 lines
6.9 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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/**
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* \file include/acado/transfer_device/sensor.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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#ifndef ACADO_TOOLKIT_SENSOR_HPP
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#define ACADO_TOOLKIT_SENSOR_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/transfer_device/transfer_device.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to simulate the behaviour of sensors within the Process.
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*
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* \ingroup UserDataStructures
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*
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* The class Sensor allows to simulate the behaviour of sensors within
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* the Process.
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*
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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class Sensor : public TransferDevice
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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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Sensor( );
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/** Constructor which takes the number of process outputs and the sampling time.
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*
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* @param[in] _nY Number of proces outputs.
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* @param[in] _samplingTime Sampling time.
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*/
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Sensor( uint _nY,
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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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Sensor( const Sensor& rhs
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);
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/** Destructor.
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*/
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virtual ~Sensor( );
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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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Sensor& operator=( const Sensor& rhs
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);
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/** Assigns new additive noise with given sampling time to all
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* components of the sensor signal.
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*
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* @param[in] _noise New additive noise.
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* @param[in] _noiseSamplingTime New noise 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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returnValue setOutputNoise( const Noise& _noise,
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double _noiseSamplingTime
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);
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/** Assigns new additive noise with given sampling time to given
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* component of the sensor signal.
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*
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* @param[in] idx Index of component.
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* @param[in] _noise New additive noise.
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* @param[in] _noiseSamplingTime New noise 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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returnValue setOutputNoise( uint idx,
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const Noise& _noise,
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double _noiseSamplingTime
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);
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/** Assigns new dead times to each component of the sensor signal.
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*
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* @param[in] _deadTimes New dead times.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setOutputDeadTimes( const DVector& _deadTimes
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);
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/** Assigns new dead time to all components of the sensor signal.
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*
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* @param[in] _deadTime New dead time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setOutputDeadTimes( double _deadTime
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);
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/** Assigns new dead time to given component of the sensor signal.
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*
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* @param[in] idx Index of component.
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* @param[in] _deadTimes New dead time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setOutputDeadTime( uint idx,
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double _deadTime
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);
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/** Initializes all components of the sensor and the
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* lastSignal member based on the given start information.
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*
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* @param[in] _startTime Start time.
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* @param[in] _startValue Initial value of the sensor signal.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue init( double _startTime = 0.0,
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const DVector& _startValue = emptyConstVector
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);
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/** Performs one step of the sensor transforming the given signal
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* according to the internal sensor settings.
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*
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* @param[in,out] _y Sensor signal to be transformed.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_BLOCK_NOT_READY, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_SENSOR_STEP_FAILED
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*/
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virtual returnValue step( VariablesGrid& _y
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);
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/** Returns number of sensor signal components.
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*
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* \return Number of sensor signal components.
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*/
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inline uint getNY( ) const;
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/** Returns pointer to additive noise of given component of the sensor signal.
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*
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* @param[in] idx Index of component.
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*
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* \return Pointer to additive noise of given component
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*/
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inline Noise* getOutputNoise( uint idx
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) const;
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/** Returns dead time of given component of the sensor signal.
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*
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* @param[in] idx Index of component.
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*
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* \return Dead time of given component
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*/
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inline double getOutputDeadTime( uint idx
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) const;
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/** Returns dead times of the sensor signal.
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*
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* \return Dead times of sensor signal
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*/
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inline DVector getOutputDeadTimes( ) const;
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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/** Delays given signal according to the internal dead times.
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*
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* @param[in,out] _y Sensor signal to be delayed.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_DELAYING_INPUTS_FAILED
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*/
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returnValue delaySensorOutput( VariablesGrid& _y
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);
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/** Returns time grid for representing the given sensor signal in
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* delayed form.
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*
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* @param[in] _y Sensor signal to be delayed.
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* @param[out] _yDelayed Time grid for representing delayed sensor signal.
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue getDelayedOutputGrid( const VariablesGrid& _y,
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VariablesGrid& _yDelayed
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) const;
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/** Adds noise to given signal.
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*
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* @param[in,out] _y Sensor signal to be noised.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_GENERATING_NOISE_FAILED
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*/
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returnValue addSensorNoise( VariablesGrid& _y
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) const;
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//
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// DATA MEMBERS:
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//
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protected:
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/transfer_device/sensor.ipp>
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#endif // ACADO_TOOLKIT_SENSOR_HPP
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/*
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* end of file
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*/
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