Control Toolbox¶

THIS PAGE IS OUTDATED AND MUST BE REVIEWED

Control Manager¶

Rules:

define a control manager linked to an EXISTING model:

auto cm = std::make_shared<siconos::control::ControlManager>(myModel);

add Sensors and Actuators to this manager:

auto t1 = std::make_shared<siconos::simulation::TimeDiscretisation>(t0,h);
auto s1 = cm->addSensor(typeS1,t1);
auto t2 = std::make_shared<siconos::simulation::TimeDiscretisation>(t0,h);
auto a1 = cm->addActuator(typeA1,t2);
// ...

typeS1 and typeA1 are integers which represent the type of the Sensor/Actuator. See corresponding sections for details and various types. n Important: each actuator/sensor must have its own TimeDiscretisation object. n Why: after each process of an event, its TimeDiscretisation is increment (ie tk->tk+1 etc ) and if several events share the same TimeDiscretisation, it will be incremented too many times.

initialize the manager:
```
cm->initialize();
```

This result in the scheduling of events corresponding to each Sensor/Actuator into the EventsManager of the simulation. It must be called BEFORE simulation->initialize()

It is also possible to insert a new Sensor or Actuator at any time during the simulation:

cm->addAndRecordSensor(typeS1,t3);
cm->addAndRecordActuator(typeA1,t4);

Sensors¶

tk
capture
map of vectors. Save values for all events?

Actuators¶

link to one DS.

tk
a way to compute the value of z
setZ in DS