Class ControlSimulation

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

class ControlSimulation

Subclassed by ControlLsodarSimulation, ControlZOHSimulation

Public Functions

virtual ~ControlSimulation()

destructor

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

Add a DynamicalSystem.

Parameters
  • ds: the DynamicalSystem to integrate
  • name: of the ds (optional)

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 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

SP::ControlManager CM() const

Return the ControlManager.

Return
the ControlManager

SP::SimpleMatrix data() const

Return the data matrix.

Return
the data matrix

std::string dataLegend() const

get the legend for the matrix

Return
legend as string of space seperated values

double elapsedTime() const

Return the elapsed time computing.

Return
the elapsed time computing

void initialize()

Initialize the ControlSimulation, instantiate all objects.

SP::OneStepIntegrator integrator() const

Return the OneStepIntegrator.

Return
the Integrator

SP::NonSmoothDynamicalSystem model() const

Return the NonSmoothDynamicalSystem.

Return
the NonSmoothDynamicalSystem

virtual void run() = 0

Run the simulation.

void setSaveOnlyMainSimulation(bool v)

Set the value of _saveOnlyMainSimulation.

Parameters
  • v: a boolean

void setTheta(unsigned int newTheta)

Modify the value of theta (for MoreauJeanOSI)

Parameters
  • newTheta: the new value of theta

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

SP::Simulation simulation() const

Return the Simulation.

Return
the simulation for the main simulation

void storeData(unsigned indx)

store the simulation data in a row of the matrix

Parameters
  • indx: the current row index