KalmanFilter Class Reference

Provides a Kalman filter for state estimation. More...

#include <kalman_filter.hpp>

Inheritance diagram for KalmanFilter:

List of all members.

Public Member Functions
	KalmanFilter (double _samplingTime=DEFAULT_SAMPLING_TIME)
	Constructor taking minimal sub-block configuration.
	KalmanFilter (const KalmanFilter &rhs)
	Copy constructor (deep copy).
virtual	~KalmanFilter ()
	Destructor.
KalmanFilter &	operator= (const KalmanFilter &rhs)
	Assignment operator (deep copy).
virtual Estimator *	clone () const
virtual returnValue	init (double startTime=0.0, const Vector &x0_=emptyConstVector, const Vector &p_=emptyConstVector)
	Initialization.
virtual returnValue	step (double currentTime, const Vector &_y)
	Executes next single step.
returnValue	getOutputs (Vector &_x, Vector &_xa, Vector &_u, Vector &_p, Vector &_w) const
	Returns all estimator outputs.
returnValue	getX (Vector &_x) const
	Returns estimated differential states.
returnValue	getXA (Vector &_xa) const
	Returns estimated algebraic states.
returnValue	getU (Vector &_u) const
	Returns estimated previous controls.
returnValue	getP (Vector &_p) const
	Returns estimated parameters.
returnValue	getW (Vector &_w) const
	Returns estimated disturbances.
uint	getNX () const
	Returns number of estimated differential states.
uint	getNXA () const
	Returns number of estimated algebraic states.
uint	getNU () const
	Returns number of estimated previous controls.
uint	getNP () const
	Returns number of estimated parameters.
uint	getNW () const
	Returns number of estimated disturbances.
uint	getNY () const
	Returns number of process outputs.
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.
Protected Member Functions
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.
Protected Attributes
Vector	x
	Estimated differential state.
Vector	xa
	Estimated algebraic state.
Vector	u
	Estimated previous controls.
Vector	p
	Estimated parameters.
Vector	w
	Estimated disturbances.
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.

---

Detailed Description

The class KalmanFilter provides a Kalman filter for state estimation.

Author:

Hans Joachim Ferreau, Boris Houska

---

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO KalmanFilter::KalmanFilter

(

double

_samplingTime = DEFAULT_SAMPLING_TIME

)

References BS_NOT_INITIALIZED, and UserInteraction::setStatus().

Referenced by clone().

KalmanFilter::KalmanFilter

(

const KalmanFilter &

rhs

)

KalmanFilter::~KalmanFilter

(

)

[virtual]

---

Member Function Documentation

int Logging::addLogRecord

(

LogRecord &

record

)

[inherited]

Parameters:

[in]

record

Record to be added.

Returns:

>= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

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]

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

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]

Parameters:

[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

returnValue Options::addOption	(	uint	idx,
		OptionsName	name,
		int	value
	)		[protected, inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

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]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of new option item.
[in]	value	Default value of new option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_ALREADY_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, OptionsList::add(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::addOptionsList

(

)

[inherited]

Returns:

SUCCESSFUL_RETURN

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.

Parameters:

[in]

_window

Window to be added.

Returns:

>= 0: index of added record,
-RET_PLOT_COLLECTION_CORRUPTED

Reimplemented from Plotting.

References Logging::addLogRecord(), PlotWindow::getPlotDataRecord(), and PlotWindow::setPlotDataRecord().

Referenced by UserInteraction::operator<<().

returnValue Options::clearOptionsList

(

)

[protected, inherited]

Returns:

SUCCESSFUL_RETURN

References Options::getNumOptionsLists(), Options::optionsList, SUCCESSFUL_RETURN, and uint.

Referenced by Options::operator=(), and Options::~Options().

Estimator * KalmanFilter::clone

(

)

const [virtual]

Implements Estimator.

References KalmanFilter().

returnValue Options::declareOptionsUnchanged

(

)

[protected, inherited]

Returns:

SUCCESSFUL_RETURN

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]

Parameters:

[in]

idx

Index of option list.

Returns:

SUCCESSFUL_RETURN

References ACADOERROR, OptionsList::declareOptionsUnchanged(), Options::getNumOptionsLists(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue Options::get	(	OptionsName	name,
		int &	value
	)		const [inherited]

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

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]

Parameters:

[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS

References OptionsList::get(), and Options::optionsList.

returnValue Options::get	(	uint	idx,
		OptionsName	name,
		int &	value
	)		const [inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

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]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[out]	value	Value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_INDEX_OUT_OF_BOUNDS

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.

Parameters:

[in]	_name	Internal name of item.
[out]	values	All numerical values at all time instants of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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.

Parameters:

[in]	_name	Internal name of item.
[out]	firstValue	Numerical value at first time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

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.

Parameters:

[in]	_name	Internal name of item.
[out]	lastValue	Numerical value at last time instant of given item.

Returns:

SUCCESSFUL_RETURN,
RET_LOG_ENTRY_DOESNT_EXIST

References ACADOERROR, BT_TRUE, LogCollection::getLast(), LogCollection::hasNonEmptyItem(), Logging::logCollection, and RET_LOG_ENTRY_DOESNT_EXIST.

returnValue Logging::getLogRecord	(	uint	idx,
		LogRecord &	_record
	)		const [inherited]

Parameters:

[in]	idx	Index of desired record.
[out]	_record	Desired record.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

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.

Parameters:

[out]

_record

Desired record.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References LogRecord::getAliasIdx(), and Logging::getLogRecord().

BlockName SimulationBlock::getName

(

)

const [inline, inherited]

Returns:

Name of the block

References SimulationBlock::name.

uint Estimator::getNP

(

)

const [inline, inherited]

Returns:

Number of estimated parameters

References VectorspaceElement::getDim(), and Estimator::p.

Referenced by Controller::init().

uint Estimator::getNU

(

)

const [inline, inherited]

Returns:

Number of estimated previous controls

References VectorspaceElement::getDim(), and Estimator::u.

Referenced by Controller::init().

uint Logging::getNumLogRecords

(

)

const [inherited]

Returns:

Number of records

References LogCollection::getNumLogRecords(), and Logging::logCollection.

Referenced by Logging::getLogRecord().

BEGIN_NAMESPACE_ACADO uint Options::getNumOptionsLists

(

)

const [inline, inherited]

Returns:

Total number of option lists

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 Plotting::getNumPlotWindows

(

)

const [inline, inherited]

Returns:

Number of windows

References PlotCollection::getNumPlotWindows(), and Plotting::plotCollection.

Referenced by Plotting::getPlotWindow().

uint Estimator::getNW

(

)

const [inline, inherited]

Returns:

Number of estimated disturbances

References VectorspaceElement::getDim(), and Estimator::w.

Referenced by Controller::init().

uint Estimator::getNX

(

)

const [inline, inherited]

Returns:

Number of estimated differential states

References VectorspaceElement::getDim(), and Estimator::x.

Referenced by Controller::init().

uint Estimator::getNXA

(

)

const [inline, inherited]

Returns:

Number of estimated algebraic states

References VectorspaceElement::getDim(), and Estimator::xa.

Referenced by Controller::init().

uint Estimator::getNY

(

)

const [inline, inherited]

Returns:

Number of process outputs

Referenced by Controller::getNY().

Options Options::getOptions

(

uint

idx

)

const [inherited]

Parameters:

[in]

idx

Index of option list.

Returns:

Options object containing exactly the option list with given index

References ACADOERROR, Options::getNumOptionsLists(), Options::Options(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

Referenced by AlgorithmicBase::getOptions().

BEGIN_NAMESPACE_ACADO returnValue Estimator::getOutputs	(	Vector &	_x,
		Vector &	_xa,
		Vector &	_u,
		Vector &	_p,
		Vector &	_w
	)		const [inline, inherited]

Parameters:

_x	Estimated differential states.
_xa	Estimated algebraic states.
_u	Estimated previous controls.
_p	Estimated parameters.
_w	Estimated disturbances.

References Estimator::p, SUCCESSFUL_RETURN, Estimator::u, Estimator::w, Estimator::x, and Estimator::xa.

Referenced by Controller::init(), and Controller::obtainEstimates().

returnValue Estimator::getP

(

Vector &

_p

)

const [inline, inherited]

Parameters:

_p	OUTPUT: estimated parameters.

References Estimator::p, and SUCCESSFUL_RETURN.

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.

Parameters:

[in]

_window

Window to be plotted.

Returns:

SUCCESSFUL_RETURN

Reimplemented from Plotting.

References PlotWindow::getPlotDataRecord(), PlotWindow::setPlotDataRecord(), SUCCESSFUL_RETURN, and Logging::updateLogRecord().

returnValue Plotting::getPlotWindow	(	uint	idx,
		PlotWindow &	_window
	)		const [inline, inherited]

Parameters:

[in]	idx	Index of desired window.
[out]	_window	Desired window.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

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.

Parameters:

[out]

_window

Desired window.

Returns:

SUCCESSFUL_RETURN,
RET_INDEX_OUT_OF_BOUNDS

References PlotWindow::getAliasIdx(), and Plotting::getPlotWindow().

double SimulationBlock::getSamplingTime

(

)

const [inline, inherited]

Returns:

Sampling time of the block

References SimulationBlock::samplingTime.

Referenced by PIDcontroller::determineControlAction(), Controller::getSamplingTimeControlLaw(), Controller::getSamplingTimeEstimator(), Process::init(), RealTimeAlgorithm::shift(), RealTimeAlgorithm::step(), and Controller::step().

BlockStatus UserInteraction::getStatus

(

)

const [protected, inherited]

Returns:

Current status of user interface

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(), FeedforwardLaw::step(), LinearStateFeedback::step(), PIDcontroller::step(), Sensor::step(), SimulationEnvironment::step(), Controller::step(), Process::step(), and Actuator::step().

returnValue Estimator::getU

(

Vector &

_u

)

const [inline, inherited]

Parameters:

_u	OUTPUT: estimated previous controls.

References SUCCESSFUL_RETURN, and Estimator::u.

returnValue Estimator::getW

(

Vector &

_w

)

const [inline, inherited]

Parameters:

_w	OUTPUT: estimated disturbances.

References SUCCESSFUL_RETURN, and Estimator::w.

returnValue Estimator::getX

(

Vector &

_x

)

const [inline, inherited]

Parameters:

_x	OUTPUT: estimated differential states.

References SUCCESSFUL_RETURN, and Estimator::x.

returnValue Estimator::getXA

(

Vector &

_xa

)

const [inline, inherited]

Parameters:

_xa	OUTPUT: estimated algebraic states.

References SUCCESSFUL_RETURN, and Estimator::xa.

BooleanType Options::haveOptionsChanged

(

)

const [protected, inherited]

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

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]

Parameters:

[in]

idx

Index of option list.

Returns:

BT_TRUE iff options have been modified,
BT_FALSE otherwise

References ACADOERROR, BT_FALSE, Options::getNumOptionsLists(), OptionsList::haveOptionsChanged(), Options::optionsList, and RET_INDEX_OUT_OF_BOUNDS.

returnValue KalmanFilter::init	(	double	startTime = 0.0,
		const Vector &	x0_ = emptyConstVector,
		const Vector &	p_ = emptyConstVector
	)		[virtual]

Reimplemented from Estimator.

References BS_READY, UserInteraction::setStatus(), and SUCCESSFUL_RETURN.

BEGIN_NAMESPACE_ACADO BooleanType SimulationBlock::isDefined

(

)

const [inline, inherited]

setup properly).

Returns:

BT_TRUE iff block has been defined,
BT_FALSE otherwise

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().

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.

Parameters:

[in]

_window

Window to be added.

Note:

This function is doing the same as the corresponding addPlotWindow member function and is introduced for syntax reasons only.

Returns:

>= 0: index of added record,
-RET_PLOT_COLLECTION_CORRUPTED

Reimplemented from Plotting.

References UserInteraction::addPlotWindow().

Referenced by UserInteraction::operator<<().

int UserInteraction::operator<<

(

LogRecord &

_record

)

[virtual, inherited]

Parameters:

[in]

record

Record to be added.

Note:

This function tunnels the corresponding function of the Logging class. It is introduced to avoid syntax ambiguity only.

Returns:

>= 0: index of added record,
-RET_LOG_COLLECTION_CORRUPTED

Reimplemented from Logging.

References UserInteraction::operator<<().

KalmanFilter & KalmanFilter::operator=

(

const KalmanFilter &

rhs

)

returnValue Plotting::plot

(

PlotFrequency

_frequency = PLOT_IN_ANY_CASE

)

[virtual, inherited]

Parameters:

[in]

_frequency

Frequency determining at which time instants the window is to be plotted.

Returns:

SUCCESSFUL_RETURN

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 Logging::printLoggingInfo

(

)

const [inherited]

Returns:

SUCCESSFUL_RETURN

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]

Returns:

SUCCESSFUL_RETURN

References Options::getNumOptionsLists(), Options::optionsList, OptionsList::printOptionsList(), SUCCESSFUL_RETURN, and uint.

returnValue Options::printOptionsList

(

uint

idx

)

const [inherited]

Parameters:

[in]

idx

Index of option list.

Returns:

SUCCESSFUL_RETURN

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]

Parameters:

[in]

_frequency

Frequency determining at which time instants the window is to be plotted.

Returns:

SUCCESSFUL_RETURN

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]

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::optionsList, and OptionsList::set().

Referenced by AlgorithmicBase::set().

returnValue Options::set	(	OptionsName	name,
		double	value
	)		[inherited]

Parameters:

[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED

References Options::optionsList, and OptionsList::set().

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		int	value
	)		[inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().

returnValue Options::set	(	uint	idx,
		OptionsName	name,
		double	value
	)		[inherited]

Parameters:

[in]	idx	Index of option list.
[in]	name	Name of option item.
[in]	value	New value of option.

Returns:

SUCCESSFUL_RETURN,
RET_OPTION_DOESNT_EXISTS,
RET_OPTIONS_LIST_CORRUPTED,
RET_INDEX_OUT_OF_BOUNDS

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and OptionsList::set().

returnValue SimulationBlock::setName

(

BlockName

_name

)

[inline, inherited]

Parameters:

[in]

_name

New name.

Returns:

SUCCESSFUL_RETURN

References SimulationBlock::name, and SUCCESSFUL_RETURN.

Referenced by SimulationBlock::operator=(), and SimulationBlock::SimulationBlock().

returnValue Options::setOptions

(

const Options &

arg

)

[inherited]

Parameters:

[in]

arg

New Options object to be assigned.

Note:

This routine is introduced only for convenience and is equivalent to the assignment operator.

Returns:

SUCCESSFUL_RETURN

References Options::operator=(), and SUCCESSFUL_RETURN.

Referenced by AlgorithmicBase::setOptions().

returnValue Options::setOptions	(	uint	idx,
		const Options &	arg
	)		[inherited]

Parameters:

[in]	idx	Index of option list.
[in]	arg	Options object containing the option list to be assigned.

Returns:

SUCCESSFUL_RETURN

References ACADOERROR, Options::getNumOptionsLists(), Options::optionsList, RET_INDEX_OUT_OF_BOUNDS, and SUCCESSFUL_RETURN.

returnValue SimulationBlock::setSamplingTime

(

double

_samplingTime

)

[inline, inherited]

Parameters:

[in]

_samplingTime

New sampling time.

Returns:

SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

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]

Parameters:

[in]

_status

New status of user interface

Returns:

SUCCESSFUL_RETURN

References UserInteraction::status, and SUCCESSFUL_RETURN.

Referenced by Controller::Controller(), DynamicEstimator::DynamicEstimator(), Estimator::Estimator(), FeedforwardLaw::FeedforwardLaw(), init(), OptimizationAlgorithm::init(), DynamicEstimator::init(), Estimator::init(), LinearStateFeedback::init(), FeedforwardLaw::init(), RealTimeAlgorithm::init(), TransferDevice::init(), PIDcontroller::init(), SimulationEnvironment::init(), Controller::init(), Process::init(), Process::initializeStartValues(), IntegrationAlgorithm::IntegrationAlgorithm(), KalmanFilter(), LinearStateFeedback::LinearStateFeedback(), OCPexport::OCPexport(), UserInteraction::operator=(), OptimizationAlgorithm::OptimizationAlgorithm(), RealTimeAlgorithm::performFeedbackStep(), RealTimeAlgorithm::performPreparationStep(), PIDcontroller::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]

Returns:

SUCCESSFUL_RETURN

Reimplemented in Process, Controller, IntegrationAlgorithm, SimulationEnvironment, RealTimeAlgorithm, and OptimizationAlgorithm.

References SUCCESSFUL_RETURN.

returnValue Options::setupOptions

(

)

[protected, virtual, inherited]

Returns:

SUCCESSFUL_RETURN

Reimplemented in Process, Controller, IntegrationAlgorithm, SimulationEnvironment, RealTimeAlgorithm, MultiObjectiveAlgorithm, ExportModule, and OptimizationAlgorithm.

References SUCCESSFUL_RETURN.

returnValue KalmanFilter::step	(	double	currentTime,
		const Vector &	_y
	)		[virtual]

Implements Estimator.

References SUCCESSFUL_RETURN.

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.

Parameters:

[in,out]

_record

Record to be updated

Returns:

SUCCESSFUL_RETURN

References Logging::logCollection, and LogCollection::updateLogRecord().

Referenced by UserInteraction::getPlotDataFromMemberLoggings(), and SimulationEnvironment::getSampledProcessOutput().

---

Member Data Documentation

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().

BlockName SimulationBlock::name [protected, inherited]

Referenced by SimulationBlock::getName(), SimulationBlock::operator=(), SimulationBlock::setName(), and SimulationBlock::SimulationBlock().

uint Options::nOptionsList [protected, inherited]

Referenced by Options::addOptionsList(), Options::getNumOptionsLists(), Options::operator=(), and Options::Options().

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 Estimator::p [protected, inherited]

Referenced by Estimator::Estimator(), Estimator::getNP(), Estimator::getOutputs(), Estimator::getP(), and Estimator::operator=().

PlotCollection Plotting::plotCollection [protected, inherited]

Referenced by Plotting::addPlotWindow(), Plotting::getNumPlotWindows(), Plotting::getPlotWindow(), Plotting::operator=(), Plotting::plot(), Plotting::Plotting(), Plotting::replot(), and Process::replot().

RealClock SimulationBlock::realClock [protected, inherited]

Referenced by Controller::feedbackStep(), Controller::getPreviousRealRuntime(), Controller::init(), and Controller::preparationStep().

double SimulationBlock::samplingTime [protected, inherited]

Referenced by ControlLaw::getLengthControlHorizon(), ControlLaw::getLengthPredictionHorizon(), SimulationBlock::getSamplingTime(), SimulationBlock::operator=(), SimulationBlock::setSamplingTime(), and SimulationBlock::SimulationBlock().

BlockStatus UserInteraction::status [protected, inherited]

Referenced by UserInteraction::getStatus(), SimulationBlock::isDefined(), UserInteraction::operator=(), UserInteraction::setStatus(), OCPexport::setup(), MHEalgorithm::solve(), and UserInteraction::UserInteraction().

Vector Estimator::u [protected, inherited]

Referenced by Estimator::Estimator(), Estimator::getNU(), Estimator::getOutputs(), Estimator::getU(), and Estimator::operator=().

Vector Estimator::w [protected, inherited]

Referenced by Estimator::Estimator(), Estimator::getNW(), Estimator::getOutputs(), Estimator::getW(), and Estimator::operator=().

Vector Estimator::x [protected, inherited]

Referenced by Estimator::Estimator(), Estimator::getNX(), Estimator::getOutputs(), Estimator::getX(), and Estimator::operator=().

Vector Estimator::xa [protected, inherited]

Referenced by Estimator::Estimator(), Estimator::getNXA(), Estimator::getOutputs(), Estimator::getXA(), and Estimator::operator=().

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The documentation for this class was generated from the following files:

• kalman_filter.hpp
• kalman_filter.cpp