File control/src/utils/ObserverFactory.hpp

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Factory to generate user-defined Observers

Defines

AUTO_REGISTER_OBSERVER(class_name, class_type)

namespace ObserverFactory

Namespace for Observer factory related objects.

Typedefs

typedef SP::Observer (*object_creator)(SP::ControlSensor, const SiconosVector&)

A pointer to function, returning a SP::Observer, built with its type (ie class name) a ControlSensor and a SiconosVector, the initial estimate.

typedef std::map<unsigned int, object_creator> MapFactory

The type of the factory map.

typedef MapFactory::iterator MapFactoryIt

An iterator through the MapFactory.

Functions

template<class SubType>
SP::Observer factory(SP::ControlSensor sensor, const SiconosVector &xHat0)

Template function to return a new object of type SubType.

Parameters:

• sensor – ControlSensor used by this Observer

• xHat0 – initial state estimate

Returns:

an Observer

class Registry

#include <ObserverFactory.hpp>

Registry Class for Observers.

Observer factory. Use: ObserverFactory::Registry& regObserver(ObserverFactory::Registry::get()) ; SP::Observer yourObserver = regObserver.instantiate(observerType, timeD, myDS); With observerType a string, the name of the class of your Observer (expl: “ObserverPosition”), timeD a SP::TimeDiscretisation and myDS a SP::DynamicalSystem.

Public Functions

void add(unsigned int type, object_creator creator)

Add an object_creator into the factory_map, factory_map[name] = object.

Parameters:

• type – the type of the added Observer

• creator – object creator

SP::Observer instantiate(unsigned int type, SP::ControlSensor sensor, const SiconosVector &xHat0)

Function to instantiate a new Observer.

Parameters:

• type – the type of the Observer we want to instantiate

• sensor – the ControlSensor feeding this Observer

• xHat0 – the original estimate

Returns:

a SP::Observer to the created Observer

Public Static Functions

static Registry &get()

Access function to the Registry.

Returns:

reference to the registry

Private Members

MapFactory factory_map

map that links a string, the type of the class, to a pointer to function, used to build the object.

class Registration

#include <ObserverFactory.hpp>

Registration Class for Observers.

Class used for auto-registration of Observer-type objects.

Public Functions

Registration(unsigned int type, object_creator creator)

To register some new object into the factory.

Parameters:

• type – the type of the added Observer

• creator – object creator