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suActuatorPerturbation Class Reference

A derivatives callback used for perturbing the actuator forces during a simulation. More...

#include <suActuatorPerturbation.h>

Inheritance diagram for suActuatorPerturbation:

List of all members.

Public Types
enum	PertType { SCALE, DELTA, CONSTANT }
	Perturbation types. More...
Public Member Functions
	suActuatorPerturbation (rdModel *aModel)
	Construct a derivative callback instance for perturbing actuator forces during an integration.
virtual	~suActuatorPerturbation ()
	Destructor.
void	setActuator (int aActuatorIndex)
	Set for which actuator a force perturbation should be made.
int	getActuator () const
	Get for which actuator a force perturbation should be made.
void	setAllowNegForce (bool aTrueFalse)
	Set whether it is permissable that a perturbation produces a negative force.
bool	getAllowNegForce () const
	Get whether negative force is allowed.
void	setPerturbation (PertType aPerturbationType, double aPerturbation)
	Set the perturbation type and the perturbation size.
double	getPerturbation () const
	Get the size of the force perturbation that is made to the action forces.
PertType	getPerturbationType () const
	Get the type of the force perturbation that is made to the action forces.
rdStorage *	getForceStorage ()
	Get a pointer to the rdStorage containing the nominal and perturbed force.
void	reset ()
	Reset the perturbation callback.
virtual void	computeActuation (double aT, double *aX, double *aY)
	Callback called right after actuation has been computed by the model.
virtual void	applyActuation (double aT, double *aX, double *aY)
	Callback called right after actuation has been applied by the model.
Protected Attributes
int	_actuator
	Which actuator.
bool	_allowNegForce
	Negative force flag *.
double	_perturbation
	Force perturbation.
PertType	_perturbationType
	Type of perturbation.
double	_force
	Nominal actuator force.
rdStorage *	_forceStore
	Storage for holding nominal and perturbed force.
Private Member Functions
void	setNull ()
	Set member variables to approprate NULL values.

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Detailed Description

A derivatives callback used for perturbing the actuator forces during a simulation.

Author:

Frank C. Anderson, Saryn R. Goldberg

Version:

1.0

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Member Enumeration Documentation

enum suActuatorPerturbation::PertType

Perturbation types. See setPerturbation().

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Constructor & Destructor Documentation

suActuatorPerturbation::suActuatorPerturbation (  rdModel *  aModel  )

Construct a derivative callback instance for perturbing actuator forces during an integration. Parameters: aModel  Model for which actuator forces are to be perturbed.

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Member Function Documentation

void suActuatorPerturbation::applyActuation (  double  aT, double *  aX, double *  aY )  [virtual]

Callback called right after actuation has been applied by the model. The nominal atuator force is restored. Reimplemented from rdDerivCallback. Reimplemented in suActuatorPerturbationIndependent.

void suActuatorPerturbation::computeActuation (  double  aT, double *  aX, double *  aY )  [virtual]

Callback called right after actuation has been computed by the model. The nominal atuator force is recorded so that it can be restored, and the actuator force is replaced by its perturbed value. Parameters: aT  Real time. aX  Controls. aY  States. Reimplemented from rdDerivCallback. Reimplemented in suActuatorPerturbationIndependent.

int suActuatorPerturbation::getActuator (   )  const

Get for which actuator a force perturbation should be made. Returns: Actuator to which force is applied..

bool suActuatorPerturbation::getAllowNegForce (   )  const

Get whether negative force is allowed. Returns: allowNegForce Flag See also: setAllowNegForce()

rdStorage * suActuatorPerturbation::getForceStorage (   )

Get a pointer to the rdStorage containing the nominal and perturbed force. Returns: Pointer to the forceStorage

double suActuatorPerturbation::getPerturbation (   )  const

Get the size of the force perturbation that is made to the action forces. Returns: aPerturbation

suActuatorPerturbation::PertType suActuatorPerturbation::getPerturbationType (   )  const

Get the type of the force perturbation that is made to the action forces. Returns: aPerturbationType

void suActuatorPerturbation::reset (   )

Reset the perturbation callback. This method resets any internal objects so that a new perturbation series can be run cleanly. Specifically, for this class, the force storage object is reset (or emptied) so that any new force perturbations are stored at the beginning of the force storage object. Reimplemented in suActuatorPerturbationIndependent.

void suActuatorPerturbation::setActuator (  int  aActuatorIndex  )

Set for which actuator a force perturbation should be made. Parameters: aIndex  Index of the actuator.

void suActuatorPerturbation::setAllowNegForce (  bool  aTrueFalse  )

Set whether it is permissable that a perturbation produces a negative force. Parameters: allowNegForce  Flag indicates whether a negative force is permitted

void suActuatorPerturbation::setPerturbation (  PertType  aPerturbationType, double  aPerturbation )

Set the perturbation type and the perturbation size. Three different types of perturbation are allowed, as listed in the enum PertType. PertType SCALE The force perturbation (df) that is made is computed by multiplying the action force (f) by the perturbation: df = perturbation * f The perturbation factor may be any value; however, a value between 0.0 and 1.0 what is typically used. PertType DELTA The force perturbation (df) that is made is computed by adding the perturbation to the the action force (f) by the perturbation: df = f + perturbation PertType CONSTANT The force perturbation (df) that is made is computed by seting the action force (f) equal to the perturbation: df = perturbation Parameters: aPerturbationType  Perturbation type. aPerturbation  Perturbation value.

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

• suActuatorPerturbation.h
• suActuatorPerturbation.cpp

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