File control/src/Sensor/LinearSensor.hpp#
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A generic linear sensor, to capture the output y defined as y = Cx + Du
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class LinearSensor : public ControlSensor
- #include <LinearSensor.hpp>
A generic linear sensor, to capture the output y defined as y = Cx + Du.
Public Functions
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LinearSensor(SP::DynamicalSystem ds)
Constructor for the SensorFactory.
- Parameters:
ds – the SP::DynamicalSystem it observes
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LinearSensor(SP::DynamicalSystem ds, SP::SimpleMatrix C, SP::SimpleMatrix D = SP::SimpleMatrix())
Constructor with the full set of data.
- Parameters:
ds – the SP::DynamicalSystem it observes.
C – a SP::SiconosMatrix.
D – a SP::SiconosMatrix (optional).
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virtual ~LinearSensor()
Destructor.
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virtual void initialize(const NonSmoothDynamicalSystem &nsds)
initialize sensor data
- Parameters:
nsds – current nonsmooth dynamical system
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virtual void capture()
capture data when the SensorEvent is processed ( for example set data[SensorEvent]=…
)
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void setC(const SimpleMatrix &C)
Set the C matrix.
- Parameters:
C – a SimpleMatrix
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inline void setCPtr(SP::SimpleMatrix C)
Set the C matrix.
- Parameters:
C – a SP::SimpleMatrix
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void setD(const SimpleMatrix &D)
Set the D matrix.
- Parameters:
D – a SimpleMatrix
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inline void setDPtr(SP::SimpleMatrix D)
Set the D matrix.
- Parameters:
D – a SP::SimpleMatrix
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LinearSensor(SP::DynamicalSystem ds)