siconos.control.sensor

Module documentation

class siconos.control.sensor.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.sensor.Sensor(*args, **kwargs)[source]

Bases: object

Sensor Base Class

Abstract class, interface to user-defined sensors.

A Sensor is dedicated to data capture. It gives an interface for User who can implement its own Sensor to clearly define which data he needs to save.

A Sensor handles a TimeDiscretisation, which defines the set of all instants where the sensor must operate (i.e. each times where capture() function will be called). An Event, inserted into the EventsManager of the Simulation, is linked to this TimeDiscretisation.

Moreover, a Sensor is identified thanks to an id and a type (a number associated to the derived class type indeed).

Construction

To build a Sensor it is necessary to use the factory. Inputs are a number which identify the derived class type and a TimeDiscretisation:

Get the registry
   SensorFactory::Registry& regSensor(SensorFactory::Registry::get()) ;
Build a Sensor of type "myType" with t as a TimeDiscretisation.
   regSensor.instantiate(myType, t);

The best way is to use the controlManager:

cm a ControlManager
   cm->addSensor(myType,t);
or if cm has already been initialized:
   cm->addAndRecordSensor(myType,t)

The data are saved in a DataSet object named data, a map which associate to each Event another map. This second map links a std::string, used to identify the data, and a SiconosVector. As an example consider the case where you need to save the state vector x of a DynamicalSystem, then you can define a Data object, with “myDS_X” as an id and yourDS->x() as the SiconosVector. For myEvent being an Event where you need to save data, you get: (data[myEvent])[“myDS_X”] = model->nonSmoothDynamicalSystem()->dynamicalSystem()->x()

See users’ manual for details on how to define its own Sensor.

setId(newId)[source]

set id of the Sensor

Parameters

newId (string) – the id of the Sensor

getId()[source]

get id of the Sensor

Return type

string

Returns

a std::string

getType()[source]

get the type of the Sensor

Return type

int

Returns

an int

getDS()[source]

get the DynamicalSystem linked to this Sensor

Return type

DynamicalSystem

Returns

SP::DynamicalSystem

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)[source]

initialize sensor data.

Parameters

nsds (NonSmoothDynamicalSystem) – the Model

capture()[source]

capture data when the SensorEvent is processed => set data[SensorEvent]=…

display()[source]

display the data of the Sensor on the standard output

class siconos.control.sensor.ControlSensor(*args)[source]

Bases: siconos.control.sensor.Sensor

Generic control Sensor to get the output of the system

Overload 1: Default constructor


Overload 2: Simple Constructor

Parameters
  • type (int) – the type of the Sensor

  • ds (DynamicalSystem) – the SP::DynamicalSystem it observes

  • delay (float, optional) – the delay between the measurement and the avaibility of the data


Overload 3: Simple Constructor

Parameters
  • type (int) – the type of the Sensor

  • ds (DynamicalSystem) – the SP::DynamicalSystem it observes

  • delay – the delay between the measurement and the avaibility of the data

initialize(nsds)[source]

initialize sensor data.

Parameters

nsds (NonSmoothDynamicalSystem) – the Model

getYDim()[source]

Get the dimension of the output

Return type

int

Returns

an unsigned int

y()[source]

Get a pointer to the output

Return type

SiconosVector

Returns

SP::SiconosVector to the output

capture()[source]

capture data when the SensorEvent is processed => set data[SensorEvent]=…

class siconos.control.sensor.LinearSensor(*args)[source]

Bases: siconos.control.sensor.ControlSensor

A generic linear sensor, to capture the output y defined as y = Cx + Du

Overload 1: Constructor for the SensorFactory

Parameters

ds (DynamicalSystem) – the SP::DynamicalSystem it observes


Overload 2: Constructor with the full set of data

Parameters
  • ds (DynamicalSystem) – the SP::DynamicalSystem it observes.

  • C (SimpleMatrix) – a SP::SiconosMatrix.

  • D (SimpleMatrix, optional) – a SP::SiconosMatrix (optional).


Overload 3: Constructor with the full set of data

Parameters
  • ds (DynamicalSystem) – the SP::DynamicalSystem it observes.

  • C (SimpleMatrix) – a SP::SiconosMatrix.

  • D – a SP::SiconosMatrix (optional).

initialize(nsds)[source]

initialize sensor data :type nsds: NonSmoothDynamicalSystem :param nsds: current nonsmooth dynamical system

capture()[source]

capture data when the SensorEvent is processed ( for example set data[SensorEvent]=… )

setC(C)[source]

Set the C matrix.

Parameters

C (SimpleMatrix) – a SimpleMatrix

setCPtr(C)[source]

Set the C matrix

Parameters

C (SimpleMatrix) – a SP::SimpleMatrix

setD(D)[source]

Set the D matrix

Parameters

D (SimpleMatrix) – a SimpleMatrix

setDPtr(D)[source]

Set the D matrix

Parameters

D (SimpleMatrix) – a SP::SimpleMatrix