Class ControlManager

Defined in Program listing for file control/src/utils/ControlManager.hpp

class ControlManager

ControlManager Class: tools to provide control in a Simulation (Sensors, Actuators, Observers)

This class is used to handle all the sensors and actuators declared by the user and to schedule them into the simulation.

A ControlManager has:

• a list of Sensor

• a list of Actuator

• a link to an existing Simulation

The usual way to define control over a system is as follows:

• declare a ControlManager and associate it with a Simulation

• add some sensors and actuators into the ControlManager

• initialize the ControlManager (which will result in the recording of all actuators and sensors into the list of events processed during the simulation)

• optionally add some new sensor/actuator at any time but with a specific function: addAndRecord(…). A call to this function results in the creation of a Sensor/Actuator and in the insertion of the corresponding event into the simulation eventsManager.

Public Functions

ControlManager(SP::Simulation sim)

Constructor with a Simulation, to which control will be applied.

Parameters:

sim – the Simulation

virtual ~ControlManager()

destructor

inline SP::Simulation simulation() const

get the Simulation linked to this ControlManager

Returns:

a SP::Simulation

inline const Sensors getSensors() const

get the list of Sensors associated to this manager.

Returns:

a Sensors object.

inline const Actuators getActuators() const

get the list of Actuators associated to this manager.

Returns:

a Actuators object.

inline const Observers getObservers() const

get the list of Observers associated to this manager.

Returns:

a Observers object.

SP::Sensor addSensor(int name, SP::TimeDiscretisation td, SP::DynamicalSystem ds)

To build and add a new Sensor in the Manager.

Parameters:

• name – the type of the Sensor

• td – the SP::TimeDiscretisation of the Sensor

• ds – the DynamicalSystem used in the Sensor

Returns:

a SP::Sensor to the added Sensor

SP::Sensor addAndRecordSensor(int name, SP::TimeDiscretisation td, SP::DynamicalSystem ds, const NonSmoothDynamicalSystem &nsds)

To build, add, initialize a new Sensor in the Manager and record it in the simulation This function is only useful to add a new Sensor after the initialization of the manager else call addSensor()

Parameters:

• name – the type (int) of the Sensor

• td – the SP::TimeDiscretisation of the Sensor

• ds – the DynamicalSystem used in the Sensor

• nsds – the NonSmoothDynamicalSystem

Returns:

a SP::Sensor to the added Sensor

void addSensorPtr(SP::Sensor s, SP::TimeDiscretisation td)

Add an existing Sensor to the Manager.

Parameters:

• s – a SP::Sensor to the Sensor we want to add

• td – the TimeDiscretisation used for the associated Event

void addAndRecordSensorPtr(SP::Sensor s, SP::TimeDiscretisation td, const NonSmoothDynamicalSystem &nsds)

To add, initialize an existing Sensor in the manager and record it in the simulation This function is only useful to add a new Sensor after the initialization of the manager else call addSensor()

Parameters:

• s – a SP::Sensor to the Sensor we want to add

• td – the TimeDiscretisation used for the associated Event

• nsds – current nonsmooth dynamical system

SP::Actuator addActuator(int name, SP::TimeDiscretisation td, SP::ControlSensor sensor)

To build and add a new Actuator in the Manager.

Parameters:

• name – the type of the Actuator

• td – the SP::TimeDiscretisation of the Actuator

• sensor – the ControlSensor used to feed the Actuator

Returns:

the added Actuator

SP::Actuator addAndRecordActuator(int name, SP::TimeDiscretisation t, SP::ControlSensor sensor, const NonSmoothDynamicalSystem &nsds)

To build, add, initialize a new Actuator in the manager and record it in the simulation This function is only useful to add a new Actuator after the initialization of the manager else call addActuator()

Parameters:

• name – the type of the Actuator

• t – the SP::TimeDiscretisation of the Actuator

• sensor – the ControlSensor used to feed the Actuator

• nsds – the NonSmoothDynamicalSystem

Returns:

a SP::Actuator to the added Actuator

void addActuatorPtr(SP::Actuator act, SP::TimeDiscretisation td)

Add an existing Actuator to the manager.

Parameters:

• act – a SP::Actuator to the Actuator we want to add

• td – the TimeDiscretisation used for the associated Event

void addAndRecordActuatorPtr(SP::Actuator act, SP::TimeDiscretisation td, const NonSmoothDynamicalSystem &nsds)

To add, initialize an existing Actuator in the manager and record it in the simulation This function is only useful to add a new Actuator after the initialization of the manager otherwise call addActuator()

Parameters:

• act – a SP::Actuator to the Actuator we want to add

• td – the TimeDiscretisation used for the associated Event

• nsds – current nonsmooth dynamical system

SP::Observer addObserver(int name, SP::TimeDiscretisation td, SP::ControlSensor sensor, const SiconosVector &xHat0)

To build and add a new Observer in the Manager.

Parameters:

• name – the type of the Observer

• td – the SP::TimeDiscretisation of the Observer

• sensor – the ControlSensor feeding the Observer

• xHat0 – the initial guess for the state

Returns:

a SP::ACtuator to the added Observer

SP::Observer addAndRecordObserver(int name, SP::TimeDiscretisation td, SP::ControlSensor sensor, const SiconosVector &xHat0, const NonSmoothDynamicalSystem &nsds)

To build, add, initialize a new Observer in the manager and record it in the simulation This function is only useful to add a new Observer after the initialization of the manager else call addObserver()

Parameters:

• name – the type of the Observer

• td – the SP::TimeDiscretisation of the Observer

• sensor – the ControlSensor feeding the Observer

• xHat0 – the initial guess for the state

• nsds – current nonsmooth dynamical system

Returns:

the added Observer

void addObserverPtr(SP::Observer obs, SP::TimeDiscretisation td)

Add an existing Observer to the manager.

Parameters:

• obs – a SP::Observer to the Observer we want to add

• td – the TimeDiscretisation used for the associated Event

void addAndRecordObserverPtr(SP::Observer obs, SP::TimeDiscretisation td, const NonSmoothDynamicalSystem &nsds)

To add, initialize an existing Observer in the manager and record it in the simulation This function is only useful to add a new Observer after the initialization of the manager otherwise call addObserver()

Parameters:

• obs – a SP::Observer to the Observer we want to add

• td – the TimeDiscretisation used for the associated Event

• nsds – current nonsmooth dynamical system

void initialize(const NonSmoothDynamicalSystem &nsds)

initialize all Sensors, Observers and Actuators.

Parameters:

nsds – current nonsmooth dynamical system

void display() const

display the data of the ControlManager on the standard output