#include <discctrl.h>

Inheritance diagram for DiscreteControlElem:

Collaboration diagram for DiscreteControlElem:

Public Member Functions
	DiscreteControlElem (unsigned int uL, const DofOwner pDO, integer iNumOut, std::vector< ScalarValue > &vOut, std::vector< DriveCaller * > &vOutSF, integer iNumIn, ScalarDof ppIn, DiscreteControlProcess p, integer iNIt, flag fOut)

virtual	~DiscreteControlElem (void)

virtual Electric::Type	GetElectricType (void) const

virtual std::ostream &	Restart (std::ostream &out) const

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual unsigned int	iGetNumDof (void) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal, const VectorHandler &, const VectorHandler &)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints h=0)

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH) const

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from Electric
	Electric (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~Electric (void)

virtual Elem::Type	GetElemType (void) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

virtual void	SetInitialValue (VectorHandler &X)

Protected Attributes
DiscreteControlProcess *	pDCP

bool	bNewStep

integer	iNumIter

integer	iCurrIter

integer	iNumOutputs

std::vector< ScalarValue * >	vOutputs

std::vector< DriveOwner * >	vOutScaleFact

std::vector< doublereal >	dOut

integer	iNumInputs

ScalarDof *	pInputs

std::vector< doublereal >	dIn

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Additional Inherited Members
Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from Electric
enum	Type { UNKNOWN = -1, ACCELEROMETER = 0, DISPLACEMENT, DISCRETECONTROL, MOTOR, LASTELECTRICTYPE }

Detailed Description

Definition at line 271 of file discctrl.h.

Constructor & Destructor Documentation

DiscreteControlElem::DiscreteControlElem	(	unsigned int	uL,
		const DofOwner *	pDO,
		integer	iNumOut,
		std::vector< ScalarValue * > &	vOut,
		std::vector< DriveCaller * > &	vOutSF,
		integer	iNumIn,
		ScalarDof *	ppIn,
		DiscreteControlProcess *	p,
		integer	iNIt,
		flag	fOut
	)

Definition at line 690 of file discctrl.cc.

References ASSERT, dIn, dOut, iNumInputs, iNumOutputs, SAFENEWWITHCONSTRUCTOR, and vOutScaleFact.

 : Elem(uL, fOut),
 Electric(uL, pDO, fOut),
 pDCP(p),
 bNewStep(true),
 iNumIter(iNIt),
 iCurrIter(0),
 iNumOutputs(iNumOut),
 vOutputs(vOut),
 dOut(iNumOutputs),
 iNumInputs(iNumIn),
 pInputs(pIn),
 dIn(iNumInputs)
 {
         /* The inputs should be all scalar dofs; an abtract force is
          * applied to every node;
          * the outputs can be of every kind */
 
         /* Allocs and resets memory for input and output current values */
         ASSERT(iNumInputs > 0);
         ASSERT(iNumOutputs > 0);
 
         vOutScaleFact.resize(iNumOutputs);
 
         for (int i = iNumOutputs; i-- > 0; ) {
                 vOutScaleFact[i] = 0;
                 SAFENEWWITHCONSTRUCTOR(vOutScaleFact[i],
                         DriveOwner,
                         DriveOwner(vOutSF[i]));
         }
 
         for (std::vector<doublereal>::iterator i = dIn.begin();
                 i != dIn.end(); ++i)
         {
                 *i = 0.;
         }
 
         for (std::vector<doublereal>::iterator i = dOut.begin();
                 i != dOut.end(); ++i)
         {
                 *i = 0.;
         }
 }

DiscreteControlElem::~DiscreteControlElem ( void )

virtual

Definition at line 743 of file discctrl.cc.

References pDCP, pInputs, SAFEDELETE, SAFEDELETEARR, vOutputs, and vOutScaleFact.

 {
         for (std::vector<DriveOwner *>::iterator i = vOutScaleFact.begin();
                 i != vOutScaleFact.end(); ++i)
         {
                 SAFEDELETE(*i);
         }
 
         for (std::vector<ScalarValue *>::iterator i = vOutputs.begin();
                 i != vOutputs.end(); ++i)
         {
                 SAFEDELETE(*i);
         }
 
         // Allocated by DataManager
         SAFEDELETEARR(pInputs);
 
         // Must destroy the other processes too
         SAFEDELETE(pDCP);
 }

Member Function Documentation

void DiscreteControlElem::AfterConvergence	(	const VectorHandler &	X,
		const VectorHandler &	XP
	)

virtual

Reimplemented from SimulationEntity.

Definition at line 782 of file discctrl.cc.

References ASSERT, bNewStep, dEmptyDesiredOut, ScalarDof::dGetValue(), dIn, dOut, iCurrIter, iNumInputs, iNumIter, iNumOutputs, pDCP, pInputs, DiscreteControlProcess::PutOutput(), vOutputs, and vOutScaleFact.

 {
         // Sets the flag for a new step
         if (++iCurrIter == iNumIter) {
                 iCurrIter = 0;
 
                 ASSERT(bNewStep == false);
                 bNewStep = true;
 
                 // Gets output from solution
                 for (int iCnt = iNumOutputs; iCnt-- > 0; ) {
                         dOut[iCnt] = vOutScaleFact[iCnt]->dGet()*vOutputs[iCnt]->dGetValue();
                 }
 
                 // Gets input from solution
                 for (int iCnt = iNumInputs; iCnt-- > 0; ) {
                         dIn[iCnt] = pInputs[iCnt].dGetValue();
                 }
 
                 // Puts measures to control subprocess
                 // DCP knows the length of dOut and dIn
                 pDCP->PutOutput(dOut, dIn, dEmptyDesiredOut);
         }
 
         // Add extra output as needed
 }

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VariableSubMatrixHandler & DiscreteControlElem::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	,
		const VectorHandler &	,
		const VectorHandler &
	)

virtual

Implements Elem.

Definition at line 863 of file discctrl.cc.

References VariableSubMatrixHandler::SetNullMatrix().

 {
         WorkMat.SetNullMatrix();
         return WorkMat;
 }

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SubVectorHandler & DiscreteControlElem::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 812 of file discctrl.cc.

References bNewStep, dIn, DiscreteControlProcess::GetInput(), iNumInputs, pDCP, pInputs, SubVectorHandler::PutItem(), and VectorHandler::ResizeReset().

 {
         WorkVec.ResizeReset(iNumInputs);
 
         // At first iteration gets the input from the control subprocess
         if (bNewStep) {
                 // Gets the inputs from subprocess
                 // DCP knows the length of dIn
                 pDCP->GetInput(dIn);
 
                 // resets the flag
                 bNewStep = false;
         }
 
         // Sets the parameters
         for (int iCnt = iNumInputs; iCnt-- > 0; ) {
                 // Equivalent to an abstract force
                 WorkVec.PutItem(iCnt + 1, pInputs[iCnt].pNode->iGetFirstRowIndex() + 1, dIn[iCnt]);
         }
 
         return WorkVec;
 }

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doublereal DiscreteControlElem::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 927 of file discctrl.cc.

References dIn, iNumInputs, and MBDYN_EXCEPT_ARGS.

 {
         if (i < 1 || i > (unsigned int)iNumInputs) {
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         return dIn[i - 1];
 }

void DiscreteControlElem::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

virtual

Reimplemented from Elem.

Definition at line 939 of file discctrl.cc.

References ASSERT, iNumInputs, iNumOutputs, pInputs, ScalarDof::pNode, and vOutputs.

                                                        {
         connectedNodes.resize(iNumInputs + iNumOutputs);
         for (int i = 0; i < iNumInputs; i++) {
                 connectedNodes[i] = pInputs[i].pNode;
         }
 
         unsigned cnt = unsigned(iNumInputs);
         for (int i = 0; i < iNumOutputs; i++) {
                 ScalarDofValue *psdv = dynamic_cast<ScalarDofValue *>(vOutputs[i]);
                 if (psdv) {
                         connectedNodes[cnt] = psdv->pNode;
                         cnt++;
                 }
         }
 
         ASSERT(cnt <= connectedNodes.size());
 
         if (cnt != connectedNodes.size()) {
                 connectedNodes.resize(cnt);
         }
 }

DofOrder::Order DiscreteControlElem::GetDofType ( unsigned int ) const

virtual

Reimplemented from Elem.

Definition at line 847 of file discctrl.cc.

References ASSERTMSG, and DofOrder::UNKNOWN.

 {
         ASSERTMSG(0, "You shouldn't have called this function");
         return DofOrder::UNKNOWN;
 }

Electric::Type DiscreteControlElem::GetElectricType ( void ) const

virtual

Implements Electric.

Definition at line 765 of file discctrl.cc.

References Electric::DISCRETECONTROL.

 {
         return Electric::DISCRETECONTROL;
 }

unsigned int DiscreteControlElem::iGetNumDof ( void ) const

virtual

Reimplemented from Elem.

Definition at line 840 of file discctrl.cc.

 {
       return 0;
 }

unsigned int DiscreteControlElem::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 873 of file discctrl.cc.

References iNumInputs.

 {
         return iNumInputs;
 }

unsigned int DiscreteControlElem::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 879 of file discctrl.cc.

References WithLabel::GetLabel(), and iNumInputs.

 {
         /*
          * legal values:
          *
          * "u[<idx>]"   with <idx> ::= positive integer between 1 and iNumInputs
          */
         switch (s[0]) {
         case 'u':
                 s++;
                 break;
 
         default:
                 return 0;
         }
 
         if (s[0] != '[') {
                 return 0;
         }
         s++;
 
         if (s[0] == '-') {
                 return 0;
         }
 
         char *next;
         errno = 0;
         long idx = std::strtol(s, &next, 10);
         int save_errno = errno;
         if (next == s || next[0] != ']') {
                 return 0;
         }
 
         if (save_errno == ERANGE) {
                 silent_cerr("DiscreteControlElem(" << GetLabel() << "): "
                         "warning, private data index " << std::string(s, next - s)
                         << " overflows" << std::endl);
                 return 0;
         }
 
         if (idx > iNumInputs) {
                 return 0;
         }
 
         return idx;
 }

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std::ostream & DiscreteControlElem::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 772 of file discctrl.cc.

References WithLabel::GetLabel().

 {
         out << "  electric: " << GetLabel() << ", discrete control; "
                 "# to be implemented" << std::endl;
         return out;
 }

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void DiscreteControlElem::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

virtual

Implements Elem.

Definition at line 855 of file discctrl.cc.

References iNumInputs.

 {
         *piNumRows = iNumInputs;
         *piNumCols = 1;
 }

Member Data Documentation

bool DiscreteControlElem::bNewStep

protected

Definition at line 274 of file discctrl.h.

Referenced by AfterConvergence(), and AssRes().

std::vector<doublereal> DiscreteControlElem::dIn

protected

Definition at line 285 of file discctrl.h.

Referenced by AfterConvergence(), AssRes(), dGetPrivData(), and DiscreteControlElem().

std::vector<doublereal> DiscreteControlElem::dOut

protected

Definition at line 281 of file discctrl.h.

Referenced by AfterConvergence(), and DiscreteControlElem().

integer DiscreteControlElem::iCurrIter

protected

Definition at line 276 of file discctrl.h.

Referenced by AfterConvergence().

integer DiscreteControlElem::iNumInputs

protected

Definition at line 283 of file discctrl.h.

Referenced by AfterConvergence(), AssRes(), dGetPrivData(), DiscreteControlElem(), GetConnectedNodes(), iGetNumPrivData(), iGetPrivDataIdx(), and WorkSpaceDim().

integer DiscreteControlElem::iNumIter

protected

Definition at line 275 of file discctrl.h.

Referenced by AfterConvergence().

integer DiscreteControlElem::iNumOutputs

protected

Definition at line 278 of file discctrl.h.

Referenced by AfterConvergence(), DiscreteControlElem(), and GetConnectedNodes().

DiscreteControlProcess* DiscreteControlElem::pDCP

protected

Definition at line 273 of file discctrl.h.

Referenced by AfterConvergence(), AssRes(), and ~DiscreteControlElem().

ScalarDof* DiscreteControlElem::pInputs

protected

Definition at line 284 of file discctrl.h.

Referenced by AfterConvergence(), AssRes(), GetConnectedNodes(), and ~DiscreteControlElem().

std::vector<ScalarValue *> DiscreteControlElem::vOutputs

protected

Definition at line 279 of file discctrl.h.

Referenced by AfterConvergence(), GetConnectedNodes(), and ~DiscreteControlElem().

std::vector<DriveOwner*> DiscreteControlElem::vOutScaleFact

protected

Definition at line 280 of file discctrl.h.

Referenced by AfterConvergence(), DiscreteControlElem(), and ~DiscreteControlElem().

The documentation for this class was generated from the following files:

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation