Class ControlSimulation

Defined in Program listing for file control/src/Simulation/ControlSimulation.hpp

class ControlSimulation

Subclassed by ControlLsodarSimulation, ControlZOHSimulation

Public Functions

inline virtual ~ControlSimulation()

destructor

void setTheta(unsigned int newTheta)

Modify the value of theta (for MoreauJeanOSI)

Parameters

newTheta – the new value of theta

void initialize()

Initialize the ControlSimulation, instantiate all objects.

void addDynamicalSystem(SP::DynamicalSystem ds, const std::string &name = "")

Add a DynamicalSystem.

Parameters

• ds – the DynamicalSystem to integrate

• name – of the ds (optional)

void addSensor(SP::Sensor sensor, const double h)

Add a Sensor.

Parameters

• sensor – the sensor to be added

• h – sampling period (or timestep) for the Sensor

void addActuator(SP::Actuator actuator, const double h)

Add an Actuator.

Parameters

• actuator – the controller to be added

• h – sampling period (or timestep) for the Actuator

void addObserver(SP::Observer observer, const double h)

Add an Observer.

Parameters

• observer – the observer to be added

• h – sampling period (or timestep) for the Observer

void storeData(unsigned indx)

store the simulation data in a row of the matrix

Parameters

indx – the current row index

inline SP::Simulation simulation() const

Return the Simulation.

Returns

the simulation for the main simulation

inline SP::OneStepIntegrator integrator() const

Return the OneStepIntegrator.

Returns

the Integrator

inline SP::NonSmoothDynamicalSystem model() const

Return the NonSmoothDynamicalSystem.

Returns

the NonSmoothDynamicalSystem

inline SP::SimpleMatrix data() const

Return the data matrix.

Returns

the data matrix

inline std::string dataLegend() const

get the legend for the matrix

Returns

legend as string of space seperated values

inline double elapsedTime() const

Returns

the elapsed time computing in seconds

inline SP::ControlManager CM() const

Return the ControlManager.

Returns

the ControlManager

inline void setSaveOnlyMainSimulation(bool v)

Set the value of _saveOnlyMainSimulation.

Parameters

v – a boolean

inline void silent(bool s = true)

Set the simulation to be silent, e.g.

do not show any progress bar

Parameters

s – is true is silent, else display progress bar

virtual void run() = 0

Run the simulation.