185 lines
4.1 KiB
C++
185 lines
4.1 KiB
C++
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/clock/clock.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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#ifndef ACADO_TOOLKIT_CLOCK_HPP
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#define ACADO_TOOLKIT_CLOCK_HPP
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#include <acado/utils/acado_utils.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Base class for all kind of time measurements.
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*
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* \ingroup BasicDataStructures
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*
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* The class Clock serves as base class for all kind of time measurements,
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* both real and simulated ones.
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*
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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class Clock
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor.
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*/
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Clock( );
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/** Copy constructor (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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Clock( const Clock &rhs
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);
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/** Destructor.
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*/
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virtual ~Clock();
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/** Assignment Operator (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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Clock& operator=( const Clock &rhs
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);
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/** Clone constructor (deep copy).
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*
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* \return Pointer to deep copy of base class type
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*/
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virtual Clock* clone( ) const = 0;
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/** Initializes the clock with given initial time.
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*
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* @param[in] _initialTime Initial time.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue init( double _initialTime
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);
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/** Initializes the clock with initial time zero.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue reset( );
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/** Starts time measurement.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_CLOCK_NOT_READY, \n
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* RET_NO_SYSTEM_TIME
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*/
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virtual returnValue start( ) = 0;
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/** Shifts measured time by a given offset.
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*
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* @param[in] _timeShift Time offset.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_CLOCK_NOT_READY, \n
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* RET_NO_SYSTEM_TIME
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*/
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virtual returnValue step( double _timeShift
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) = 0;
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/** Stops time measurement.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_CLOCK_NOT_READY, \n
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* RET_NO_SYSTEM_TIME
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*/
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virtual returnValue stop ( ) = 0;
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/** Returns elapsed time.
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*
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* @param[in] _elapsedTime Elapsed time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_BLOCK_NOT_READY
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*/
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virtual returnValue getTime( double& _elapsedTime
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);
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/** Returns elapsed time.
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*
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* \return >= 0: elapsed time, \n
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* -INFTY: internal error
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*/
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virtual double getTime( );
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/** Returns current status of clock, see documentation of ClockStatus for details.
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*
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* \return Current status of clock
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*/
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inline ClockStatus getStatus( ) const;
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//
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// PROTECTED MEMBERS:
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//
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protected:
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double elapsedTime; /**< Elapsed time since last reset. */
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ClockStatus status; /**< Status of clock. */
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/clock/clock.ipp>
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// collect all remaining headers of clock directory
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#include <acado/clock/real_clock.hpp>
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#include <acado/clock/simulation_clock.hpp>
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#endif // ACADO_TOOLKIT_CLOCK_HPP
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/*
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* end of file
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*/
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