siconos.control.observer#

Module documentation

class siconos.control.observer.nullDeleter(*args, **kwargs)[source]#

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)[source]#

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)[source]#

set id of the Observer

Parameters:

newId (string) – the new id.

getId()[source]#

get id of the Observer

Return type:

string

Returns:

a string

getType()[source]#

get the type of the Observer (ie class name)

Return type:

int

Returns:

an integer

setTimeDiscretisation(td)[source]#

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)[source]#

initialize observer data.

Parameters:

  • nsds (NonSmoothDynamicalSystem) – current nonsmooth dynamical system

  • s (Simulation) – current simulation setup

process()[source]#

capture data when the ObserverEvent is processed

display()[source]#

display the data of the Observer on the standard output

e()[source]#

get the error e

Return type:

SiconosVector

Returns:

a pointer to e

xHat()[source]#
Return type:

SiconosVector

Returns:

the estimated state

setDS(ds)[source]#

Set the DynamicalSystem used in the Observer

Parameters:

ds (DynamicalSystem) – the DynamicalSystem used in the Observer

getInternalNSDS()[source]#
Return type:

NonSmoothDynamicalSystem

Returns:

the Model used in the Observer

class siconos.control.observer.LuenbergerObserver(*args)[source]#

Bases: 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()[source]#

Compute the new control law at each event

initialize(nsds, s)[source]#

Initialization

Parameters:

  • nsds (NonSmoothDynamicalSystem) – current nonsmooth dynamical system

  • s (Simulation) – current simulation setup

setLPtr(L)[source]#

Set the L matrix

Parameters:

L (SiconosMatrix) – the new L matrix

setCPtr(C)[source]#

Set the C matrix

Parameters:

C (SiconosMatrix) – the new C matrix

class siconos.control.observer.SlidingReducedOrderObserver(*args)[source]#

Bases: 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()[source]#

Update the estimate at each event

initialize(nsds, s)[source]#

Initialization

Parameters:

  • nsds (NonSmoothDynamicalSystem) – current nonsmooth dynamical system

  • s (Simulation) – current simulation setup

setLPtr(L)[source]#

Set the L matrix

Parameters:

L (SimpleMatrix) – the new L matrix

setCPtr(C)[source]#

Set the C matrix

Parameters:

C (SimpleMatrix) – the new C matrix