siconos.control.observer

Module documentation

class siconos.control.observer.nullDeleter(*args, **kwargs)

Bases: object

Using a shared_ptr to hold a pointer to a statically allocated

object use create<type>SPtr(<type> &x) cf http://www.boost.org/doc/

class siconos.control.observer.Observer(*args, **kwargs)

Bases: object

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.

setId(newId)

set id of the Observer

Parameters

newId (string) – the new id.

getId()

get id of the Observer

Return type

string

Returns

a string

getType()

get the type of the Observer (ie class name)

Return type

int

Returns

an integer

setTimeDiscretisation(td)

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

Parameters

td (TimeDiscretisation) – the TimeDiscretisation for this Sensor

initialize(nsds, s)

initialize observer data.

Parameters

• nsds (NonSmoothDynamicalSystem) – current nonsmooth dynamical system

• s (Simulation) – current simulation setup

process()

capture data when the ObserverEvent is processed

display()

display the data of the Observer on the standard output

e()

get the error e

Return type

SiconosVector

Returns

a pointer to e

xHat()

Return type

SiconosVector

Returns

the estimated state

setDS(ds)

Set the DynamicalSystem used in the Observer

Parameters

ds (DynamicalSystem) – the DynamicalSystem used in the Observer

getInternalNSDS()

Return type

NonSmoothDynamicalSystem

Returns

the Model used in the Observer

class siconos.control.observer.LuenbergerObserver(*args)

Bases: siconos.control.observer.Observer

Overload 1: Constructor with a TimeDiscretisation, a ControlSensor and an initial estimate of the state.

Parameters

• sensor (ControlSensor) – the SP::ControlSensor that feed us with measurements

• xHat0 (SiconosVector) – the initial guess for the state

Overload 2: Constructor with all the data

Parameters

• sensor (ControlSensor) – the ControlSensor that feeds the Observer

• xHat0 (SiconosVector) – the initial guess for the state

• C (SiconosMatrix) – the observation matrix

• L (SiconosMatrix) – the gain matrix

process()

Compute the new control law at each event

initialize(nsds, s)

Initialization

Parameters

• nsds (NonSmoothDynamicalSystem) – current nonsmooth dynamical system

• s (Simulation) – current simulation setup

setLPtr(L)

Set the L matrix

Parameters

L (SiconosMatrix) – the new L matrix

setCPtr(C)

Set the C matrix

Parameters

C (SiconosMatrix) – the new C matrix

class siconos.control.observer.SlidingReducedOrderObserver(*args)

Bases: siconos.control.observer.Observer

Overload 1: Constructor with the standard interface

Parameters

• sensor (ControlSensor) – the SP::ControlSensor that feed us with measurements

• xHat0 (SiconosVector) – the initial guess for the state

Overload 2: Constructor with all the data

Parameters

• sensor (ControlSensor) – the sensor that feeds the Observer

• xHat0 (SiconosVector) – the initial guess for the state

• C (SimpleMatrix) – observation matrix

• L (SimpleMatrix) – gain matrix

process()

Update the estimate at each event

initialize(nsds, s)

Initialization

Parameters

• nsds (NonSmoothDynamicalSystem) – current nonsmooth dynamical system

• s (Simulation) – current simulation setup

setLPtr(L)

Set the L matrix

Parameters

L (SimpleMatrix) – the new L matrix

setCPtr(C)

Set the C matrix

Parameters

C (SimpleMatrix) – the new C matrix