ControlSimulation.hpp¶

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Abstract class - General interface for all Control Dynamical Systems.

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.

Protected Functions

inline ControlSimulation()¶: default constructor

ControlSimulation(double t0, double T, double h)¶

Constructor with the minimal set of data.

Parameters

t0 – the starting time \( t_0 \)
T – the end time T
h – the simulation time step

Protected Attributes

double _t0¶: Starting time.

double _T¶: End time.

double _h¶: Simulation step.

double _theta¶: Theta for MoreauJeanOSI.

double _elapsedTime¶: Time spent computing.

unsigned _N¶: rough estimation of the number of points to save

unsigned _nDim¶: Dimension of the state space.

bool _saveOnlyMainSimulation¶: Save only the data in the main Simulation.

bool _silent¶: If true, do not show progress of the simulation.

SP::SimpleMatrix _dataM¶: Matrix for saving result.

std::string _dataLegend¶: Legend for the columns in the matrix _dataM.

SP::NonSmoothDynamicalSystem _nsds¶: NonSmoothDynamicalSystem.

SP::TimeDiscretisation _processTD¶: TimeDiscretisation for the simulation.

SP::Simulation _processSimulation¶: The Simulation.

SP::OneStepIntegrator _processIntegrator¶: The integrator.

SP::ControlManager _CM¶: the ControlManager

SP::DynamicalSystemsGraph _DSG0¶: DynamicalSystemsGraph (for convenience)

SP::InteractionsGraph _IG0¶: InteractionsGraph (for convenience)

Private Functions

ACCEPT_SERIALIZATION(ControlSimulation)¶