You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
138 lines
3.1 KiB
138 lines
3.1 KiB
/*
|
|
* 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/clock/real_clock.hpp
|
|
* \author Boris Houska, Hans Joachim Ferreau
|
|
*/
|
|
|
|
|
|
#ifndef ACADO_TOOLKIT_REAL_CLOCK_HPP
|
|
#define ACADO_TOOLKIT_REAL_CLOCK_HPP
|
|
|
|
|
|
#include <acado/clock/clock.hpp>
|
|
|
|
|
|
BEGIN_NAMESPACE_ACADO
|
|
|
|
|
|
/**
|
|
* \brief Allows real time measurements based on the system's clock.
|
|
*
|
|
* \ingroup BasicDataStructures
|
|
*
|
|
* The class RealClock allows real time measurements based on the
|
|
* system's clock.
|
|
*
|
|
* \author Hans Joachim Ferreau, Boris Houska
|
|
*/
|
|
class RealClock : public Clock
|
|
{
|
|
//
|
|
// PUBLIC MEMBER FUNCTIONS:
|
|
//
|
|
public:
|
|
|
|
/** Default constructor.
|
|
*/
|
|
RealClock();
|
|
|
|
/** Copy constructor (deep copy).
|
|
*
|
|
* @param[in] rhs Right-hand side object.
|
|
*/
|
|
RealClock( const RealClock &rhs
|
|
);
|
|
|
|
/** Destructor.
|
|
*/
|
|
virtual ~RealClock( );
|
|
|
|
/** Assignment Operator (deep copy).
|
|
*
|
|
* @param[in] rhs Right-hand side object.
|
|
*/
|
|
RealClock& operator=( const RealClock &rhs
|
|
);
|
|
|
|
/** Clone constructor (deep copy).
|
|
*
|
|
* \return Pointer to deep copy of base class type
|
|
*/
|
|
virtual Clock* clone( ) const;
|
|
|
|
|
|
/** Starts time measurement.
|
|
*
|
|
* \return SUCCESSFUL_RETURN, \n
|
|
* RET_CLOCK_NOT_READY, \n
|
|
* RET_NO_SYSTEM_TIME
|
|
*/
|
|
virtual returnValue start( );
|
|
|
|
/** Shifts measured time by a given offset.
|
|
*
|
|
* @param[in] _timeShift Time offset.
|
|
*
|
|
* \return SUCCESSFUL_RETURN, \n
|
|
* RET_CLOCK_NOT_READY, \n
|
|
* RET_NO_SYSTEM_TIME
|
|
*/
|
|
virtual returnValue step( double _timeShift
|
|
);
|
|
|
|
/** Stops time measurement.
|
|
*
|
|
* \return SUCCESSFUL_RETURN, \n
|
|
* RET_CLOCK_NOT_READY, \n
|
|
* RET_NO_SYSTEM_TIME
|
|
*/
|
|
virtual returnValue stop( );
|
|
|
|
|
|
|
|
//
|
|
// PROTECTED MEMBERS:
|
|
//
|
|
protected:
|
|
|
|
double lastTimeInstant; /**< Last time instant at which start() has been called. */
|
|
};
|
|
|
|
|
|
CLOSE_NAMESPACE_ACADO
|
|
|
|
|
|
//#include <acado/clock/real_clock.ipp>
|
|
|
|
|
|
#endif // ACADO_TOOLKIT_REAL_CLOCK_HPP
|
|
|
|
|
|
/*
|
|
* end of file
|
|
*/
|
|
|