File control/src/Observer/Observer.hpp

File control/src/Observer/Observer.hpp#

General interface to define an Observer.

class Observer

#include <Observer.hpp>

Observers Base Class.

Abstract class, interface to user-defined observers.

An Observer is dedicated to estimate the state of a DynamicalSystem given its dynamics, inputs and a initial estimate of the state.

Subclassed by LuenbergerObserver, SlidingReducedOrderObserver

Public Functions

Observer(unsigned int type, SP::ControlSensor sensor, const SiconosVector &xHat0, const std::string &newId = "none")

Constructor with a TimeDiscretisation.

Parameters:

type – the type of the Observer, which corresponds to the class type
sensor – the SP::Sensor to get the measurements
xHat0 – the initial guess for the state
newId – the id of the Observer

Observer(unsigned int type, SP::ControlSensor sensor, const SiconosVector &xHat0, SP::DynamicalSystem ds, const std::string &newId = "none")

Constructor with a TimeDiscretisation.

Parameters:

type – the type of the Observer, which corresponds to the class type.
sensor – the SP::Sensor to get the measurements
xHat0 – the initial guess for the state
ds – the SP::DynamicalSystem used as a model for the real DynamicalSystem
newId – the id of the Observer

virtual ~Observer(): destructor

inline void setId(const std::string &newId)

set id of the Observer

Parameters:: newId – the new id.

inline const std::string getId() const

get id of the Observer

Returns:: a string

inline int getType() const

get the type of the Observer (ie class name)

Returns:: an integer

virtual void setTimeDiscretisation(const TimeDiscretisation &td)

This is derived in child classes if they need to copy the TimeDiscretisation associated with this Sensor.

Parameters:: td – the TimeDiscretisation for this Sensor

virtual void initialize(const NonSmoothDynamicalSystem &nsds, const Simulation &s)

initialize observer data.

Parameters:

nsds – current nonsmooth dynamical system
s – current simulation setup

virtual void process() = 0: capture data when the ObserverEvent is processed

void display() const: display the data of the Observer on the standard output

inline SP::SiconosVector e()

get the error e

Returns:: a pointer to e

inline SP::SiconosVector xHat()

Returns:: the estimated state

inline void setDS(SP::DynamicalSystem ds)

Set the DynamicalSystem used in the Observer.

Parameters:: ds – the DynamicalSystem used in the Observer

inline virtual SP::NonSmoothDynamicalSystem getInternalNSDS() const

Returns:: the Model used in the Observer

Protected Functions

ACCEPT_SERIALIZATION(Observer)#

Observer()#: default constructor

Protected Attributes

int _type#: type of the Observer

SP::DynamicalSystem _DS#: the DynamicalSystem used in the Observer

SP::TimeDiscretisation _td#: The TimeDiscretisation.

SP::ControlSensor _sensor#: the sensor that feed the observer

SP::SiconosVector _xHat#: estimated state

SP::SiconosVector _e#: The error \(e=\hat{y}-y\).

SP::SiconosVector _y#: The measurements from the sensor.

std::string _id#: id of the Observer

SP::NonSmoothDynamicalSystem _nsds#

SP::TimeStepping _simulation#: Simulation for integration.

SP::OneStepIntegrator _integrator#: Integration for integration.

File control/src/Observer/Observer.hpp

Contents

File control/src/Observer/Observer.hpp#