ACADO Toolkit
1.2.0beta
Toolkit for Automatic Control and Dynamic Optimization
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Implements a PID control law to be used within a Controller. More...
#include <pid_controller.hpp>
Public Member Functions | |
PIDcontroller () | |
Default constructor. | |
PIDcontroller (uint _nInputs, uint _nOutputs, double _samplingTime=DEFAULT_SAMPLING_TIME) | |
Constructor which takes the number of inputs and outputs of the PID controller as well as the sampling time. | |
PIDcontroller (const PIDcontroller &rhs) | |
Copy constructor (deep copy). | |
virtual | ~PIDcontroller () |
Destructor. | |
PIDcontroller & | operator= (const PIDcontroller &rhs) |
Assignment operator (deep copy). | |
virtual ControlLaw * | clone () const |
Clone constructor (deep copy). | |
returnValue | setProportionalWeights (const Vector &_pWeights) |
Assigns new proportional weights to the input components. | |
returnValue | setIntegralWeights (const Vector &_iWeights) |
Assigns new integral weights to the input components. | |
returnValue | setDerivativeWeights (const Vector &_dWeights) |
Assigns new derivative weights to the input components. | |
virtual returnValue | init (double startTime=0.0, const Vector &x0_=emptyConstVector, const Vector &p_=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid) |
Initializes the control law with given start values and performs a number of consistency checks. | |
virtual returnValue | step (double currentTime, const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid) |
Performs next step of the control law based on given inputs. | |
uint | getNumInputs () const |
Returns number of input components of the PID controller. | |
uint | getNumOutputs () const |
Returns number of output components of the PID controller. | |
virtual uint | getNX () const |
Returns number of (estimated) differential states. | |
virtual uint | getNXA () const |
Returns number of (estimated) algebraic states. | |
virtual uint | getNU () const |
Returns number of controls. | |
virtual uint | getNP () const |
Returns number of parameters. | |
virtual uint | getNW () const |
Returns number of (estimated) disturbances. | |
virtual uint | getNY () const |
Returns number of process outputs. | |
virtual BooleanType | isDynamic () const |
Returns whether the control law is based on dynamic optimization or a static one. | |
virtual BooleanType | isStatic () const |
Returns whether the control law is a static one or based on dynamic optimization. | |
virtual returnValue | initializeAlgebraicStates (const VariablesGrid &_xa_init) |
Initializes algebraic states of the control law. | |
virtual returnValue | initializeAlgebraicStates (const char *fileName) |
Initializes algebraic states of the control law from data file. | |
virtual returnValue | initializeControls (const VariablesGrid &_u_init) |
Initializes controls of the control law. | |
virtual returnValue | initializeControls (const char *fileName) |
Initializes controls of the control law from data file. | |
virtual returnValue | step (const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid) |
Performs next step of the control law based on given inputs. | |
virtual returnValue | feedbackStep (double currentTime, const Vector &_x, const Vector &_p=emptyConstVector, const VariablesGrid &_yRef=emptyConstVariablesGrid) |
Performs next feedback step of the control law based on given inputs. | |
virtual returnValue | preparationStep (double nextTime=0.0, const VariablesGrid &_yRef=emptyConstVariablesGrid) |
Performs next preparation step of the control law based on given inputs. | |
virtual returnValue | shift (double timeShift=-1.0) |
Shifts the data for preparating the next real-time step. | |
returnValue | getU (Vector &_u) const |
Returns control signal as determined by the control law. | |
returnValue | getP (Vector &_p) const |
Returns parameter signal as determined by the control law. | |
virtual double | getLengthPredictionHorizon () const |
Returns length of the prediction horizon (for the case a predictive control law is used). | |
virtual double | getLengthControlHorizon () const |
Returns length of the control horizon (for the case a predictive control law is used). | |
virtual BooleanType | isInRealTimeMode () const |
Returns whether the control law is working in real-time mode. | |
BooleanType | isDefined () const |
Returns whether the block has been defined (i.e. | |
BlockName | getName () const |
Returns name of the block. | |
double | getSamplingTime () const |
Returns sampling time of the block. | |
returnValue | setName (BlockName _name) |
Assigns new name to the block. | |
returnValue | setSamplingTime (double _samplingTime) |
Assigns new sampling time to the block. | |
virtual int | operator<< (PlotWindow &_window) |
Adds a window to the plot collection. | |
virtual int | operator<< (LogRecord &_record) |
Adds a record to the log collection. | |
virtual int | addPlotWindow (PlotWindow &_window) |
Adds a window to the plot collection. | |
returnValue | addOptionsList () |
Adds an additional OptionsList to internal array. | |
returnValue | get (OptionsName name, int &value) const |
Returns value of an existing option item of integer type. | |
returnValue | get (OptionsName name, double &value) const |
Returns value of an existing option item of double type. | |
returnValue | get (uint idx, OptionsName name, int &value) const |
Returns value of an existing option item of integer type within the option list of given index. | |
returnValue | get (uint idx, OptionsName name, double &value) const |
Returns value of an existing option item of double type within the option list of given index. | |
returnValue | set (OptionsName name, int value) |
Sets value of an existing option item of integer type to a given value. | |
returnValue | set (OptionsName name, double value) |
Sets value of an existing option item of double type to a given value. | |
returnValue | set (uint idx, OptionsName name, int value) |
Sets value of an existing option item of integer type within the option list of given index to a given value. | |
returnValue | set (uint idx, OptionsName name, double value) |
Sets value of an existing option item of double type within the option list of given index to a given value. | |
returnValue | setOptions (const Options &arg) |
Assigns a given Options object to this object. | |
returnValue | setOptions (uint idx, const Options &arg) |
Assigns the option list with given index of a given Options object to option list with given index of this object. | |
Options | getOptions (uint idx) const |
Returns an Options object containing exactly the option list with given index. | |
uint | getNumOptionsLists () const |
Returns total number of option lists. | |
returnValue | printOptionsList () const |
Prints a list of all available options of all option lists. | |
returnValue | printOptionsList (uint idx) const |
Prints a list of all available options of option list with given index. | |
int | addLogRecord (LogRecord &record) |
Adds a record to the log collection. | |
returnValue | getLogRecord (uint idx, LogRecord &_record) const |
Returns the record with given index from the log collection. | |
returnValue | getLogRecord (LogRecord &_record) const |
Returns the record with certain index from the log collection. | |
returnValue | updateLogRecord (LogRecord &_record) const |
Updates all items with the record given as argument. | |
returnValue | getAll (LogName _name, MatrixVariablesGrid &values) const |
Gets all numerical values at all time instants of the item with given name. | |
returnValue | getFirst (LogName _name, Matrix &firstValue) const |
Gets numerical value at first time instant of the item with given name. | |
returnValue | getFirst (LogName _name, VariablesGrid &firstValue) const |
Gets numerical value at first time instant of the item with given name (converts internally used Matrix into VariablesGrid). | |
returnValue | getLast (LogName _name, Matrix &lastValue) const |
Gets numerical value at last time instant of the item with given name. | |
returnValue | getLast (LogName _name, VariablesGrid &lastValue) const |
Gets numerical value at last time instant of the item with given name (converts internally used Matrix into VariablesGrid). | |
uint | getNumLogRecords () const |
Returns number of records contained in the log collection. | |
returnValue | printLoggingInfo () const |
Prints information on all records and their items on screen. | |
returnValue | printNumDoubles () const |
returnValue | getPlotWindow (uint idx, PlotWindow &_window) const |
Returns the window with given index from the plot collection. | |
returnValue | getPlotWindow (PlotWindow &_window) const |
Returns the window with certain index from the plot collection. | |
virtual returnValue | plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE) |
Plots all windows of the plot collection, each one into a new figure. | |
virtual returnValue | replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE) |
Plots all windows of the plot collection, each one into the corresponding existing figure, if possible. | |
uint | getNumPlotWindows () const |
Returns number of windows contained in the plot collection. | |
returnValue | setControlLowerLimits (const Vector &_lowerLimit) |
Assigns new lower limits on control signals. | |
returnValue | setControlLowerLimit (uint idx, double _lowerLimit) |
Assigns new lower limit on given component of the control signal. | |
returnValue | setControlUpperLimits (const Vector &_upperLimit) |
Assigns new upper limits on control signals. | |
returnValue | setControlUpperLimit (uint idx, double _upperLimit) |
Assigns new upper limit on given component of the control signal. | |
returnValue | setParameterLowerLimits (const Vector &_lowerLimit) |
Assigns new lower limits on parameter signals. | |
returnValue | setParameterLowerLimit (uint idx, double _lowerLimit) |
Assigns new lower limit on given component of the parameter signal. | |
returnValue | setParameterUpperLimits (const Vector &_upperLimit) |
Assigns new upper limits on parameter signals. | |
returnValue | setParameterUpperLimit (uint idx, double _upperLimit) |
Assigns new upper limit on given component of the parameter signal. | |
Protected Member Functions | |
returnValue | determineControlAction (const Vector &error, Vector &output) |
Actually calculates the current control action based on the given current error. | |
virtual returnValue | getPlotDataFromMemberLoggings (PlotWindow &_window) const |
Copies all collected logging information required to plot a given window. | |
BlockStatus | getStatus () const |
Gets current status of user interface. | |
returnValue | setStatus (BlockStatus _status) |
Sets status of user interface. | |
virtual returnValue | setupOptions () |
Prototype member function for setting-up the option list(s) at initialization of derived classes. | |
returnValue | clearOptionsList () |
Clears all option lists from array. | |
BooleanType | haveOptionsChanged () const |
Determines whether options of at least one option list have been modified. | |
BooleanType | haveOptionsChanged (uint idx) const |
Determines whether options of option list with given index have been modified. | |
returnValue | declareOptionsUnchanged () |
Declares all options of all option lists to be unchanged. | |
returnValue | declareOptionsUnchanged (uint idx) |
Declares all options of option list with given index to be unchanged. | |
returnValue | addOption (OptionsName name, int value) |
Add an option item with a given integer default value to the all option lists. | |
returnValue | addOption (OptionsName name, double value) |
Add an option item with a given double default value to the all option lists. | |
returnValue | addOption (uint idx, OptionsName name, int value) |
Add an option item with a given integer default value to option list with given index. | |
returnValue | addOption (uint idx, OptionsName name, double value) |
Add an option item with a given double default value to option list with given index. | |
virtual returnValue | setupLogging () |
Prototype member function for setting-up the logging information at initialization of derived classes. | |
returnValue | clipSignals (VariablesGrid &_u, VariablesGrid &_p=emptyVariablesGrid) |
Actually clips given control and parameter signals. | |
returnValue | clipSignals (Vector &_u, Vector &_p=emptyVector) |
Actually clips given control and parameter signals. | |
uint | getNumControlLimits () const |
Returns number of control signal limits. | |
uint | getNumParameterLimits () const |
Returns number of parameter signal limits. | |
Protected Attributes | |
uint | nInputs |
Number of inputs. | |
uint | nOutputs |
Number of outputs. | |
Vector | pWeights |
Proportional weights for all input components. | |
Vector | iWeights |
Integral weights for all input components. | |
Vector | dWeights |
Derivative weights for all input components. | |
Vector | iValue |
Integrated value for each input component. | |
Vector | lastError |
Last error input (to be used for calculating the derivative via finite differences). | |
Vector | u |
First piece of time-varying control signals as determined by the control law. | |
Vector | p |
Time-constant parameter signals as determined by the control law. | |
BlockName | name |
Name of the block, see documentation of BlockName for details. | |
double | samplingTime |
Sampling time of the block. | |
RealClock | realClock |
Clock for real time measurements to be optionally used in derived classes. | |
BlockStatus | status |
Current status of the user interface, see documentation of BlockStatus for details. | |
OptionsList ** | optionsList |
Array consisting of OptionsLists. | |
uint | nOptionsList |
Total number of OptionsLists. | |
LogCollection | logCollection |
Log collection containing a singly-linked list of log records. | |
int | logIdx |
Index of a certain log record to be optionally used within derived classes. | |
PlotCollection | plotCollection |
Plot collection containing a singly-linked list of plot windows. | |
Vector | lowerLimitControls |
Lower limits on control signals. | |
Vector | upperLimitControls |
Upper limits on control signals. | |
Vector | lowerLimitParameters |
Lower limits on parameter signals. | |
Vector | upperLimitParameters |
Upper limits on parameter signals. |
The class PIDcontroller implements a PID control law to be used within a Controller.
For each input component, the weight for the proportional, integral and derivative term can be specified. The PID controller can be used in one of two different modes, depending on the number of inputs and outputs:
i) nOutputs = nInputs: Each output component is determined by the sum of the P, I, and D weight on the corresponding input component.
ii) nOutputs = 1: The component is determined by the sum of the P, I, and D weights on all input components.
References BS_NOT_INITIALIZED, nInputs, nOutputs, and UserInteraction::setStatus().
Referenced by clone().
PIDcontroller::PIDcontroller | ( | uint | _nInputs, |
uint | _nOutputs, | ||
double | _samplingTime = DEFAULT_SAMPLING_TIME |
||
) |
[in] | _nInputs | Number of inputs. |
[in] | _nOutputs | Number of outputs. |
[in] | _samplingTime | Sampling time. |
References ACADOERROR, BS_READY, dWeights, VectorspaceElement::init(), iValue, iWeights, lastError, nInputs, nOutputs, pWeights, RET_INVALID_PID_OUTPUT_DIMENSION, UserInteraction::setStatus(), and VectorspaceElement::setZero().
PIDcontroller::PIDcontroller | ( | const PIDcontroller & | rhs | ) |
PIDcontroller::~PIDcontroller | ( | ) | [virtual] |
int Logging::addLogRecord | ( | LogRecord & | record | ) | [inherited] |
[in] | record | Record to be added. |
References LogCollection::addLogRecord(), and Logging::logCollection.
Referenced by AlgorithmicBase::addLogRecord(), UserInteraction::addPlotWindow(), Logging::operator<<(), IntegrationAlgorithm::setupLogging(), Controller::setupLogging(), and Process::setupLogging().
returnValue Options::addOption | ( | OptionsName | name, |
int | value | ||
) | [protected, inherited] |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
Referenced by AlgorithmicBase::addOption(), OptimizationAlgorithm::setupOptions(), ExportModule::setupOptions(), MultiObjectiveAlgorithm::setupOptions(), RealTimeAlgorithm::setupOptions(), SimulationEnvironment::setupOptions(), IntegrationAlgorithm::setupOptions(), Controller::setupOptions(), and Process::setupOptions().
returnValue Options::addOption | ( | OptionsName | name, |
double | value | ||
) | [protected, inherited] |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
returnValue Options::addOption | ( | uint | idx, |
OptionsName | name, | ||
int | value | ||
) | [protected, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue Options::addOption | ( | uint | idx, |
OptionsName | name, | ||
double | value | ||
) | [protected, inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of new option item. |
[in] | value | Default value of new option. |
References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue Options::addOptionsList | ( | ) | [inherited] |
References Options::nOptionsList, Options::optionsList, and SUCCESSFUL_RETURN.
Referenced by AlgorithmicBase::addOptionsList().
int UserInteraction::addPlotWindow | ( | PlotWindow & | _window | ) | [virtual, inherited] |
This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.
[in] | _window | Window to be added. |
Reimplemented from Plotting.
References Logging::addLogRecord(), PlotWindow::getPlotDataRecord(), and PlotWindow::setPlotDataRecord().
Referenced by UserInteraction::operator<<().
returnValue Options::clearOptionsList | ( | ) | [protected, inherited] |
References Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
Referenced by Options::operator=(), and Options::~Options().
returnValue ClippingFunctionality::clipSignals | ( | VariablesGrid & | _u, |
VariablesGrid & | _p = emptyVariablesGrid |
||
) | [protected, inherited] |
[in,out] | _u | Control signal sequence to be clipped. |
[in,out] | _p | Parameter signal sequence to be clipped. |
References ACADOERROR, ClippingFunctionality::getNumControlLimits(), ClippingFunctionality::getNumParameterLimits(), Grid::getNumPoints(), MatrixVariablesGrid::getNumValues(), ClippingFunctionality::lowerLimitControls, ClippingFunctionality::lowerLimitParameters, RET_VECTOR_DIMENSION_MISMATCH, SUCCESSFUL_RETURN, uint, ClippingFunctionality::upperLimitControls, and ClippingFunctionality::upperLimitParameters.
Referenced by LinearStateFeedback::step(), and step().
returnValue ClippingFunctionality::clipSignals | ( | Vector & | _u, |
Vector & | _p = emptyVector |
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) | [protected, inherited] |
References ACADOERROR, VectorspaceElement::getDim(), ClippingFunctionality::getNumControlLimits(), ClippingFunctionality::getNumParameterLimits(), ClippingFunctionality::lowerLimitControls, ClippingFunctionality::lowerLimitParameters, RET_VECTOR_DIMENSION_MISMATCH, SUCCESSFUL_RETURN, uint, ClippingFunctionality::upperLimitControls, and ClippingFunctionality::upperLimitParameters.
ControlLaw * PIDcontroller::clone | ( | ) | const [virtual] |
returnValue Options::declareOptionsUnchanged | ( | ) | [protected, inherited] |
References OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.
Referenced by OptimizationAlgorithm::init(), and RealTimeAlgorithm::init().
returnValue Options::declareOptionsUnchanged | ( | uint | idx | ) | [protected, inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue PIDcontroller::determineControlAction | ( | const Vector & | error, |
Vector & | output | ||
) | [protected] |
[in] | error | Current error (difference to reference value). |
[out] | output | Current control action. |
References dWeights, getNumInputs(), getNumOutputs(), SimulationBlock::getSamplingTime(), VectorspaceElement::init(), iValue, iWeights, lastError, pWeights, VectorspaceElement::setZero(), SUCCESSFUL_RETURN, and uint.
Referenced by step().
returnValue ControlLaw::feedbackStep | ( | double | currentTime, |
const Vector & | _x, | ||
const Vector & | _p = emptyConstVector , |
||
const VariablesGrid & | _yRef = emptyConstVariablesGrid |
||
) | [virtual, inherited] |
[in] | currentTime | Current time. |
[in] | _x | Most recent value for differential states. |
[in] | _p | Most recent value for parameters. |
[in] | _yRef | Current piece of reference trajectory (if not specified during previous preparationStep). |
Reimplemented in RealTimeAlgorithm.
References ControlLaw::step().
Referenced by Controller::feedbackStep().
returnValue Options::get | ( | OptionsName | name, |
int & | value | ||
) | const [inherited] |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References OptionsList::get(), and Options::optionsList.
Referenced by createDiagonallyImplicitRKExport(), createImplicitRungeKuttaExport(), AlgorithmicBase::get(), ExplicitRungeKuttaExport::getCode(), ExplicitRungeKuttaExport::getFunctionDeclarations(), ExplicitRungeKuttaExport::setDifferentialEquation(), ExportHouseholderQR::setup(), ExportGaussElim::setup(), ImplicitRungeKuttaExport::setup(), and OptimizationAlgorithmBase::setupDynamicDiscretization().
returnValue Options::get | ( | OptionsName | name, |
double & | value | ||
) | const [inherited] |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References OptionsList::get(), and Options::optionsList.
returnValue Options::get | ( | uint | idx, |
OptionsName | name, | ||
int & | value | ||
) | const [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue Options::get | ( | uint | idx, |
OptionsName | name, | ||
double & | value | ||
) | const [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[out] | value | Value of option. |
References ACADOERROR, OptionsList::get(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
BEGIN_NAMESPACE_ACADO returnValue Logging::getAll | ( | LogName | _name, |
MatrixVariablesGrid & | values | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | values | All numerical values at all time instants of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getAll(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
Referenced by AlgorithmicBase::getAll(), SimulationEnvironment::getProcessAlgebraicStates(), SimulationEnvironment::getProcessDifferentialStates(), and SimulationEnvironment::getProcessIntermediateStates().
returnValue Logging::getFirst | ( | LogName | _name, |
Matrix & | firstValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | firstValue | Numerical value at first time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
Referenced by AlgorithmicBase::getFirst().
returnValue Logging::getFirst | ( | LogName | _name, |
VariablesGrid & | firstValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | firstValue | Numerical value at first time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getFirst(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
returnValue Logging::getLast | ( | LogName | _name, |
Matrix & | lastValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | lastValue | Numerical value at last time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
Referenced by AlgorithmicBase::getLast().
returnValue Logging::getLast | ( | LogName | _name, |
VariablesGrid & | lastValue | ||
) | const [inline, inherited] |
If this item exists in more than one record, the first one is choosen as they are expected to have identical values anyhow.
[in] | _name | Internal name of item. |
[out] | lastValue | Numerical value at last time instant of given item. |
References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.
double ControlLaw::getLengthControlHorizon | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References SimulationBlock::samplingTime.
double ControlLaw::getLengthPredictionHorizon | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References SimulationBlock::samplingTime.
Referenced by Controller::getCurrentReference().
returnValue Logging::getLogRecord | ( | uint | idx, |
LogRecord & | _record | ||
) | const [inherited] |
[in] | idx | Index of desired record. |
[out] | _record | Desired record. |
References ACADOERROR, Logging::getNumLogRecords(), Logging::logCollection, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.
Referenced by Logging::getLogRecord().
returnValue Logging::getLogRecord | ( | LogRecord & | _record | ) | const [inherited] |
This index is not provided when calling the function, but rather obtained by using the alias index of the record. If the record is no alias record, the error RET_INDEX_OUT_OF_BOUNDS is thrown.
[out] | _record | Desired record. |
References LogRecord::getAliasIdx(), and Logging::getLogRecord().
BlockName SimulationBlock::getName | ( | ) | const [inline, inherited] |
References SimulationBlock::name.
uint PIDcontroller::getNP | ( | ) | const [virtual] |
Reimplemented from ControlLaw.
uint PIDcontroller::getNU | ( | ) | const [virtual] |
This is the same as the number of outputs.
Reimplemented from ControlLaw.
References getNumOutputs().
BEGIN_NAMESPACE_ACADO uint ClippingFunctionality::getNumControlLimits | ( | ) | const [inline, protected, inherited] |
References VectorspaceElement::getDim(), and ClippingFunctionality::lowerLimitControls.
Referenced by ClippingFunctionality::clipSignals(), ClippingFunctionality::setControlLowerLimit(), ClippingFunctionality::setControlLowerLimits(), ClippingFunctionality::setControlUpperLimit(), and ClippingFunctionality::setControlUpperLimits().
BEGIN_NAMESPACE_ACADO uint PIDcontroller::getNumInputs | ( | ) | const [inline] |
References nInputs.
Referenced by determineControlAction(), getNX(), init(), setDerivativeWeights(), setIntegralWeights(), setProportionalWeights(), and step().
uint Logging::getNumLogRecords | ( | ) | const [inherited] |
References LogCollection::getNumLogRecords(), and Logging::logCollection.
Referenced by Logging::getLogRecord().
BEGIN_NAMESPACE_ACADO uint Options::getNumOptionsLists | ( | ) | const [inline, inherited] |
References Options::nOptionsList.
Referenced by Options::addOption(), Options::clearOptionsList(), Options::declareOptionsUnchanged(), Options::get(), Options::getOptions(), Options::haveOptionsChanged(), Options::printOptionsList(), Options::set(), and Options::setOptions().
uint PIDcontroller::getNumOutputs | ( | ) | const [inline] |
References nOutputs.
Referenced by determineControlAction(), getNU(), init(), and step().
uint ClippingFunctionality::getNumParameterLimits | ( | ) | const [inline, protected, inherited] |
References VectorspaceElement::getDim(), and ClippingFunctionality::lowerLimitParameters.
Referenced by ClippingFunctionality::clipSignals(), ClippingFunctionality::setParameterLowerLimit(), ClippingFunctionality::setParameterLowerLimits(), ClippingFunctionality::setParameterUpperLimit(), and ClippingFunctionality::setParameterUpperLimits().
uint Plotting::getNumPlotWindows | ( | ) | const [inline, inherited] |
References PlotCollection::getNumPlotWindows(), and Plotting::plotCollection.
Referenced by Plotting::getPlotWindow().
uint PIDcontroller::getNW | ( | ) | const [virtual] |
Reimplemented from ControlLaw.
uint PIDcontroller::getNX | ( | ) | const [virtual] |
This is the same as the number of inputs.
Reimplemented from ControlLaw.
References getNumInputs().
Referenced by getNY().
uint PIDcontroller::getNXA | ( | ) | const [virtual] |
Reimplemented from ControlLaw.
uint PIDcontroller::getNY | ( | ) | const [virtual] |
Options Options::getOptions | ( | uint | idx | ) | const [inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, Options::getNumOptionsLists(), Options::Options(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
Referenced by AlgorithmicBase::getOptions().
returnValue ControlLaw::getP | ( | Vector & | _p | ) | const [inline, inherited] |
[out] | _p | Parameter signal as determined by the control law. |
References ControlLaw::p, and SUCCESSFUL_RETURN.
Referenced by Controller::getP().
returnValue UserInteraction::getPlotDataFromMemberLoggings | ( | PlotWindow & | _window | ) | const [protected, virtual, inherited] |
This function is overloaded within the UserInterface class to syncronize the logging information collected elsewhere within the algorithm with the one stored within the given window for plotting.
[in] | _window | Window to be plotted. |
Reimplemented from Plotting.
References PlotWindow::getPlotDataRecord(), PlotWindow::setPlotDataRecord(), SUCCESSFUL_RETURN, and Logging::updateLogRecord().
returnValue Plotting::getPlotWindow | ( | uint | idx, |
PlotWindow & | _window | ||
) | const [inline, inherited] |
[in] | idx | Index of desired window. |
[out] | _window | Desired window. |
References ACADOERROR, Plotting::getNumPlotWindows(), Plotting::getPlotDataFromMemberLoggings(), Plotting::plotCollection, and RET_INDEX_OUT_OF_BOUNDS.
Referenced by Plotting::getPlotWindow(), Plotting::plot(), and Plotting::replot().
returnValue Plotting::getPlotWindow | ( | PlotWindow & | _window | ) | const [inline, inherited] |
This index is not provided when calling the function, but rather obtained by using the alias index of the window. If the window is no alias window, the error RET_INDEX_OUT_OF_BOUNDS is thrown.
[out] | _window | Desired window. |
References PlotWindow::getAliasIdx(), and Plotting::getPlotWindow().
double SimulationBlock::getSamplingTime | ( | ) | const [inline, inherited] |
References SimulationBlock::samplingTime.
Referenced by determineControlAction(), Controller::getSamplingTimeControlLaw(), Controller::getSamplingTimeEstimator(), Process::init(), RealTimeAlgorithm::shift(), RealTimeAlgorithm::step(), and Controller::step().
BlockStatus UserInteraction::getStatus | ( | ) | const [protected, inherited] |
References UserInteraction::status.
Referenced by RealTimeAlgorithm::feedbackStep(), OptimizationAlgorithm::init(), RealTimeAlgorithm::init(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), OCPexport::printDimensionsQP(), Process::run(), SimulationEnvironment::setController(), Controller::setEstimator(), RealTimeAlgorithm::setReference(), Controller::setReferenceTrajectory(), OCPexport::setup(), OptimizationAlgorithm::solve(), RealTimeAlgorithm::solve(), LinearStateFeedback::step(), FeedforwardLaw::step(), step(), Sensor::step(), SimulationEnvironment::step(), Controller::step(), Process::step(), and Actuator::step().
BEGIN_NAMESPACE_ACADO returnValue ControlLaw::getU | ( | Vector & | _u | ) | const [inline, inherited] |
[out] | _u | Control signal as determined by the control law. |
References SUCCESSFUL_RETURN, and ControlLaw::u.
Referenced by Controller::getU().
BooleanType Options::haveOptionsChanged | ( | ) | const [protected, inherited] |
References BT_FALSE, BT_TRUE, Options::getNumOptionsLists(), Options::optionsList, and uint.
Referenced by AlgorithmicBase::haveOptionsChanged(), OptimizationAlgorithm::init(), RealTimeAlgorithm::init(), and OptimizationAlgorithm::solve().
BooleanType Options::haveOptionsChanged | ( | uint | idx | ) | const [protected, inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, BT_FALSE, Options::getNumOptionsLists(), OptionsList::haveOptionsChanged(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.
returnValue PIDcontroller::init | ( | double | startTime = 0.0 , |
const Vector & | x0_ = emptyConstVector , |
||
const Vector & | p_ = emptyConstVector , |
||
const VariablesGrid & | _yRef = emptyConstVariablesGrid |
||
) | [virtual] |
[in] | _startTime | Start time. |
[in] | _x | Initial value for differential states. |
[in] | _p | Initial value for parameters. |
[in] | _yRef | Initial value for reference trajectory. |
Implements ControlLaw.
References ACADOERROR, BS_READY, VectorspaceElement::getDim(), getNumInputs(), getNumOutputs(), Grid::getNumPoints(), MatrixVariablesGrid::getNumValues(), VariablesGrid::getVector(), VectorspaceElement::init(), lastError, ControlLaw::p, RET_VECTOR_DIMENSION_MISMATCH, UserInteraction::setStatus(), VectorspaceElement::setZero(), SUCCESSFUL_RETURN, and ControlLaw::u.
returnValue ControlLaw::initializeAlgebraicStates | ( | const VariablesGrid & | _xa_init | ) | [virtual, inherited] |
[in] | _xa_init | Initial value for algebraic states. |
Reimplemented in RealTimeAlgorithm.
References ACADOERROR, and RET_NOT_IMPLEMENTED_IN_BASE_CLASS.
Referenced by Controller::initializeAlgebraicStates().
returnValue ControlLaw::initializeAlgebraicStates | ( | const char * | fileName | ) | [virtual, inherited] |
[in] | fileName | Name of file containing initial value for algebraic states. |
Reimplemented in RealTimeAlgorithm.
References ACADOERROR, and RET_NOT_IMPLEMENTED_IN_BASE_CLASS.
returnValue ControlLaw::initializeControls | ( | const VariablesGrid & | _u_init | ) | [virtual, inherited] |
[in] | _u_init | Initial value for controls. |
Reimplemented in RealTimeAlgorithm.
References ACADOERROR, and RET_NOT_IMPLEMENTED_IN_BASE_CLASS.
returnValue ControlLaw::initializeControls | ( | const char * | fileName | ) | [virtual, inherited] |
[in] | fileName | Name of file containing initial value for controls. |
Reimplemented in RealTimeAlgorithm.
References ACADOERROR, and RET_NOT_IMPLEMENTED_IN_BASE_CLASS.
BEGIN_NAMESPACE_ACADO BooleanType SimulationBlock::isDefined | ( | ) | const [inline, inherited] |
setup properly).
References BS_UNDEFINED, BT_FALSE, BT_TRUE, and UserInteraction::status.
Referenced by Controller::Controller(), Process::setActuator(), Controller::setControlLaw(), SimulationEnvironment::setController(), Controller::setEstimator(), SimulationEnvironment::setProcess(), Process::setSensor(), and SimulationEnvironment::SimulationEnvironment().
BooleanType PIDcontroller::isDynamic | ( | ) | const [virtual] |
Implements ControlLaw.
References BT_FALSE.
Referenced by isStatic().
BooleanType ControlLaw::isInRealTimeMode | ( | ) | const [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References BT_FALSE.
BooleanType PIDcontroller::isStatic | ( | ) | const [virtual] |
Implements ControlLaw.
References BT_FALSE, BT_TRUE, and isDynamic().
int UserInteraction::operator<< | ( | PlotWindow & | _window | ) | [virtual, inherited] |
This function is overloaded here in order to add the plotDataRecord required to plot the window to the log collection.
[in] | _window | Window to be added. |
Reimplemented from Plotting.
References UserInteraction::addPlotWindow().
Referenced by UserInteraction::operator<<().
int UserInteraction::operator<< | ( | LogRecord & | _record | ) | [virtual, inherited] |
[in] | record | Record to be added. |
Reimplemented from Logging.
References UserInteraction::operator<<().
PIDcontroller & PIDcontroller::operator= | ( | const PIDcontroller & | rhs | ) |
returnValue Plotting::plot | ( | PlotFrequency | _frequency = PLOT_IN_ANY_CASE | ) | [virtual, inherited] |
[in] | _frequency | Frequency determining at which time instants the window is to be plotted. |
References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PlotWindow::plot(), PLOT_NEVER, Plotting::plotCollection, RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.
Referenced by IntegrationAlgorithm::evaluate(), and AlgorithmicBase::plot().
returnValue ControlLaw::preparationStep | ( | double | nextTime = 0.0 , |
const VariablesGrid & | _yRef = emptyConstVariablesGrid |
||
) | [virtual, inherited] |
[in] | nextTime | Time at next step. |
[in] | _yRef | Piece of reference trajectory for next step (required for hotstarting). |
Reimplemented in RealTimeAlgorithm.
References SUCCESSFUL_RETURN.
Referenced by Controller::preparationStep().
returnValue Logging::printLoggingInfo | ( | ) | const [inherited] |
References LogCollection::getNumLogRecords(), Logging::logCollection, SUCCESSFUL_RETURN, and uint.
returnValue Logging::printNumDoubles | ( | ) | const [inherited] |
References LogCollection::getNumDoubles(), Logging::logCollection, and SUCCESSFUL_RETURN.
returnValue Options::printOptionsList | ( | ) | const [inherited] |
References Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), SUCCESSFUL_RETURN, and uint.
returnValue Options::printOptionsList | ( | uint | idx | ) | const [inherited] |
[in] | idx | Index of option list. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), and RET_INDEX_OUT_OF_BOUNDS.
returnValue Plotting::replot | ( | PlotFrequency | _frequency = PLOT_IN_ANY_CASE | ) | [virtual, inherited] |
[in] | _frequency | Frequency determining at which time instants the window is to be plotted. |
Reimplemented in Process.
References ACADOERROR, PlotCollection::first, PlotWindow::getNext(), Plotting::getPlotWindow(), PLOT_NEVER, Plotting::plotCollection, PlotWindow::replot(), RET_PLOTTING_FAILED, and SUCCESSFUL_RETURN.
Referenced by AlgorithmicBase::replot(), and RealTimeAlgorithm::solve().
returnValue Options::set | ( | OptionsName | name, |
int | value | ||
) | [inherited] |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::optionsList, and OptionsList::set().
Referenced by AlgorithmicBase::set().
returnValue Options::set | ( | OptionsName | name, |
double | value | ||
) | [inherited] |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References Options::optionsList, and OptionsList::set().
returnValue Options::set | ( | uint | idx, |
OptionsName | name, | ||
int | value | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().
returnValue Options::set | ( | uint | idx, |
OptionsName | name, | ||
double | value | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | name | Name of option item. |
[in] | value | New value of option. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().
returnValue ClippingFunctionality::setControlLowerLimit | ( | uint | idx, |
double | _lowerLimit | ||
) | [inherited] |
[in] | idx | Index of control signal component. |
[in] | _lowerLimit | New lower limit. |
References ACADOERROR, ClippingFunctionality::getNumControlLimits(), ClippingFunctionality::lowerLimitControls, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.
returnValue ClippingFunctionality::setControlLowerLimits | ( | const Vector & | _lowerLimit | ) | [inherited] |
[in] | _lowerLimit | New lower limits on control signals. |
References ACADOERROR, VectorspaceElement::getDim(), ClippingFunctionality::getNumControlLimits(), ClippingFunctionality::lowerLimitControls, RET_VECTOR_DIMENSION_MISMATCH, and SUCCESSFUL_RETURN.
returnValue ClippingFunctionality::setControlUpperLimit | ( | uint | idx, |
double | _upperLimit | ||
) | [inherited] |
[in] | idx | Index of control signal component. |
[in] | _upperLimit | New upper limit. |
References ACADOERROR, ClippingFunctionality::getNumControlLimits(), RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, and ClippingFunctionality::upperLimitControls.
returnValue ClippingFunctionality::setControlUpperLimits | ( | const Vector & | _upperLimit | ) | [inherited] |
[in] | _upperLimit | New upper limits on control signals. |
References ACADOERROR, VectorspaceElement::getDim(), ClippingFunctionality::getNumControlLimits(), RET_VECTOR_DIMENSION_MISMATCH, SUCCESSFUL_RETURN, and ClippingFunctionality::upperLimitControls.
returnValue PIDcontroller::setDerivativeWeights | ( | const Vector & | _dWeights | ) |
[in] | _dWeights | New derivative weights. |
References ACADOERROR, dWeights, VectorspaceElement::getDim(), getNumInputs(), RET_VECTOR_DIMENSION_MISMATCH, and SUCCESSFUL_RETURN.
returnValue PIDcontroller::setIntegralWeights | ( | const Vector & | _iWeights | ) |
[in] | _iWeights | New integral weights. |
References ACADOERROR, VectorspaceElement::getDim(), getNumInputs(), iWeights, RET_VECTOR_DIMENSION_MISMATCH, and SUCCESSFUL_RETURN.
returnValue SimulationBlock::setName | ( | BlockName | _name | ) | [inline, inherited] |
[in] | _name | New name. |
References SimulationBlock::name, and SUCCESSFUL_RETURN.
Referenced by SimulationBlock::operator=(), and SimulationBlock::SimulationBlock().
returnValue Options::setOptions | ( | const Options & | arg | ) | [inherited] |
[in] | arg | New Options object to be assigned. |
References Options::operator=(), and SUCCESSFUL_RETURN.
Referenced by AlgorithmicBase::setOptions().
returnValue Options::setOptions | ( | uint | idx, |
const Options & | arg | ||
) | [inherited] |
[in] | idx | Index of option list. |
[in] | arg | Options object containing the option list to be assigned. |
References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.
returnValue ClippingFunctionality::setParameterLowerLimit | ( | uint | idx, |
double | _lowerLimit | ||
) | [inherited] |
[in] | idx | Index of parameter signal component. |
[in] | _lowerLimit | New lower limit. |
References ACADOERROR, ClippingFunctionality::getNumParameterLimits(), ClippingFunctionality::lowerLimitParameters, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.
returnValue ClippingFunctionality::setParameterLowerLimits | ( | const Vector & | _lowerLimit | ) | [inherited] |
[in] | _lowerLimit | New lower limits on parameter signals. |
References ACADOERROR, VectorspaceElement::getDim(), ClippingFunctionality::getNumParameterLimits(), ClippingFunctionality::lowerLimitParameters, RET_VECTOR_DIMENSION_MISMATCH, and SUCCESSFUL_RETURN.
returnValue ClippingFunctionality::setParameterUpperLimit | ( | uint | idx, |
double | _upperLimit | ||
) | [inherited] |
[in] | idx | Index of parameter signal component. |
[in] | _upperLimit | New upper limit. |
References ACADOERROR, ClippingFunctionality::getNumParameterLimits(), RET_INDEX_OUT_OF_BOUNDS, SUCCESSFUL_RETURN, and ClippingFunctionality::upperLimitParameters.
returnValue ClippingFunctionality::setParameterUpperLimits | ( | const Vector & | _upperLimit | ) | [inherited] |
[in] | _upperLimit | New upper limits on parameter signals. |
References ACADOERROR, VectorspaceElement::getDim(), ClippingFunctionality::getNumParameterLimits(), RET_VECTOR_DIMENSION_MISMATCH, SUCCESSFUL_RETURN, and ClippingFunctionality::upperLimitParameters.
returnValue PIDcontroller::setProportionalWeights | ( | const Vector & | _pWeights | ) |
[in] | _pWeights | New proportional weights. |
References ACADOERROR, VectorspaceElement::getDim(), getNumInputs(), pWeights, RET_VECTOR_DIMENSION_MISMATCH, and SUCCESSFUL_RETURN.
returnValue SimulationBlock::setSamplingTime | ( | double | _samplingTime | ) | [inline, inherited] |
[in] | _samplingTime | New sampling time. |
References ACADOERROR, acadoIsGreater(), BT_TRUE, RET_INVALID_ARGUMENTS, SimulationBlock::samplingTime, and SUCCESSFUL_RETURN.
Referenced by SimulationBlock::operator=(), and SimulationBlock::SimulationBlock().
returnValue UserInteraction::setStatus | ( | BlockStatus | _status | ) | [protected, inherited] |
[in] | _status | New status of user interface |
References UserInteraction::status, and SUCCESSFUL_RETURN.
Referenced by Controller::Controller(), DynamicEstimator::DynamicEstimator(), Estimator::Estimator(), FeedforwardLaw::FeedforwardLaw(), KalmanFilter::init(), Estimator::init(), OptimizationAlgorithm::init(), DynamicEstimator::init(), LinearStateFeedback::init(), FeedforwardLaw::init(), RealTimeAlgorithm::init(), TransferDevice::init(), init(), SimulationEnvironment::init(), Controller::init(), Process::init(), Process::initializeStartValues(), IntegrationAlgorithm::IntegrationAlgorithm(), KalmanFilter::KalmanFilter(), LinearStateFeedback::LinearStateFeedback(), OCPexport::OCPexport(), UserInteraction::operator=(), OptimizationAlgorithm::OptimizationAlgorithm(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), PIDcontroller(), Process::Process(), RealTimeAlgorithm::RealTimeAlgorithm(), Process::setActuator(), Controller::setControlLaw(), SimulationEnvironment::setController(), Process::setDynamicSystem(), Controller::setEstimator(), SimulationEnvironment::setProcess(), Process::setProcessDisturbance(), Controller::setReferenceTrajectory(), Process::setSensor(), OCPexport::setup(), SIMexport::setup(), SIMexport::SIMexport(), SimulationEnvironment::SimulationEnvironment(), MultiObjectiveAlgorithm::solve(), MultiObjectiveAlgorithm::solveSingleObjective(), TransferDevice::TransferDevice(), and UserInteraction::UserInteraction().
returnValue Logging::setupLogging | ( | ) | [protected, virtual, inherited] |
Reimplemented in Process, Controller, IntegrationAlgorithm, SimulationEnvironment, RealTimeAlgorithm, and OptimizationAlgorithm.
References SUCCESSFUL_RETURN.
returnValue Options::setupOptions | ( | ) | [protected, virtual, inherited] |
Reimplemented in Process, Controller, IntegrationAlgorithm, SimulationEnvironment, RealTimeAlgorithm, MultiObjectiveAlgorithm, ExportModule, and OptimizationAlgorithm.
References SUCCESSFUL_RETURN.
returnValue ControlLaw::shift | ( | double | timeShift = -1.0 | ) | [virtual, inherited] |
Reimplemented in RealTimeAlgorithm.
References ACADOERROR, and RET_NO_REALTIME_MODE_AVAILABLE.
returnValue PIDcontroller::step | ( | double | currentTime, |
const Vector & | _x, | ||
const Vector & | _p = emptyConstVector , |
||
const VariablesGrid & | _yRef = emptyConstVariablesGrid |
||
) | [virtual] |
[in] | currentTime | Current time. |
[in] | _x | Most recent value for differential states. |
[in] | _p | Most recent value for parameters. |
[in] | _yRef | Current piece of reference trajectory. |
Implements ControlLaw.
References ACADOERROR, BS_READY, ClippingFunctionality::clipSignals(), determineControlAction(), VectorspaceElement::getDim(), getNumInputs(), getNumOutputs(), Grid::getNumPoints(), MatrixVariablesGrid::getNumValues(), UserInteraction::getStatus(), VariablesGrid::getVector(), VectorspaceElement::init(), ControlLaw::p, RET_BLOCK_NOT_READY, RET_CONTROLLAW_STEP_FAILED, RET_OUTPUTTRANSFORMATOR_STEP_FAILED, RET_VECTOR_DIMENSION_MISMATCH, VectorspaceElement::setZero(), SUCCESSFUL_RETURN, and ControlLaw::u.
returnValue ControlLaw::step | ( | const Vector & | _x, |
const Vector & | _p = emptyConstVector , |
||
const VariablesGrid & | _yRef = emptyConstVariablesGrid |
||
) | [virtual, inherited] |
[in] | _x | Most recent value for differential states. |
[in] | _p | Most recent value for parameters. |
[in] | _yRef | Current piece of reference trajectory or piece of reference trajectory for next step (required for hotstarting). |
References ControlLaw::step().
returnValue Logging::updateLogRecord | ( | LogRecord & | _record | ) | const [inherited] |
In doing so, it is checked for each item whether it is contained within one of of the records of the collection; and if so, the numerical values are copied into the argument record.
[in,out] | _record | Record to be updated |
References Logging::logCollection, and LogCollection::updateLogRecord().
Referenced by UserInteraction::getPlotDataFromMemberLoggings(), and SimulationEnvironment::getSampledProcessOutput().
Vector PIDcontroller::dWeights [protected] |
Referenced by determineControlAction(), operator=(), PIDcontroller(), and setDerivativeWeights().
Vector PIDcontroller::iValue [protected] |
Referenced by determineControlAction(), operator=(), and PIDcontroller().
Vector PIDcontroller::iWeights [protected] |
Referenced by determineControlAction(), operator=(), PIDcontroller(), and setIntegralWeights().
Vector PIDcontroller::lastError [protected] |
Referenced by determineControlAction(), init(), operator=(), and PIDcontroller().
LogCollection Logging::logCollection [protected, inherited] |
Referenced by Logging::addLogRecord(), Logging::getAll(), Logging::getFirst(), Logging::getLast(), Logging::getLogRecord(), Logging::getNumLogRecords(), Logging::Logging(), Controller::obtainEstimates(), Logging::operator=(), Controller::preparationStep(), Logging::printLoggingInfo(), AlgorithmicBase::printLogRecord(), Logging::printNumDoubles(), AlgorithmicBase::setAll(), AlgorithmicBase::setLast(), Process::simulate(), Controller::step(), Process::step(), and Logging::updateLogRecord().
int Logging::logIdx [protected, inherited] |
Referenced by Logging::Logging(), Logging::operator=(), and IntegrationAlgorithm::setupLogging().
Vector ClippingFunctionality::lowerLimitControls [protected, inherited] |
Vector ClippingFunctionality::lowerLimitParameters [protected, inherited] |
BlockName SimulationBlock::name [protected, inherited] |
uint PIDcontroller::nInputs [protected] |
Referenced by getNumInputs(), operator=(), and PIDcontroller().
uint Options::nOptionsList [protected, inherited] |
Referenced by Options::addOptionsList(), Options::getNumOptionsLists(), Options::operator=(), and Options::Options().
uint PIDcontroller::nOutputs [protected] |
Referenced by getNumOutputs(), operator=(), and PIDcontroller().
OptionsList** Options::optionsList [protected, inherited] |
Referenced by Options::addOption(), Options::addOptionsList(), Options::clearOptionsList(), Options::declareOptionsUnchanged(), Options::get(), Options::getOptions(), Options::haveOptionsChanged(), Options::operator=(), Options::Options(), Options::printOptionsList(), Options::set(), and Options::setOptions().
Vector ControlLaw::p [protected, inherited] |
PlotCollection Plotting::plotCollection [protected, inherited] |
Vector PIDcontroller::pWeights [protected] |
Referenced by determineControlAction(), operator=(), PIDcontroller(), and setProportionalWeights().
RealClock SimulationBlock::realClock [protected, inherited] |
double SimulationBlock::samplingTime [protected, inherited] |
BlockStatus UserInteraction::status [protected, inherited] |
Vector ControlLaw::u [protected, inherited] |
Vector ClippingFunctionality::upperLimitControls [protected, inherited] |
Vector ClippingFunctionality::upperLimitParameters [protected, inherited] |