[5] | 1 | /* |
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| 2 | * esc.h |
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| 3 | * |
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| 4 | * Created on: Jul 26, 2012 |
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| 5 | * Author: Berk Calli, Wouter Caarls |
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| 6 | * Organization: Delft Biorobotics Lab., Delft University of Technology |
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| 7 | * Contact info: b.calli@tudelft.nl, web: www.dbl.tudelft.nl |
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| 8 | * |
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| 9 | * Superclass for extremum seeking control algorithms |
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| 10 | */ |
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| 11 | |
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| 12 | #ifndef ESC_H_ |
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| 13 | #define ESC_H_ |
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| 14 | #include <vector> |
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| 15 | #include <string> |
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| 16 | #define PI 3.141592654 |
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[13] | 17 | |
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| 18 | /// Superclass for extremum seeking control algorithms. |
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[5] | 19 | class ESC |
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| 20 | { |
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[13] | 21 | public: |
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| 22 | /// Controller input type |
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| 23 | enum inputType |
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| 24 | { |
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| 25 | inputStateValue, ///< State-value input. |
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| 26 | inputValue ///< Value input. |
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| 27 | }; |
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| 28 | |
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| 29 | /// Controller output type. |
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| 30 | enum outputType |
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| 31 | { |
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| 32 | outputVelocity, ///< Velocity reference output. |
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| 33 | outputPosition ///< Position reference output. |
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| 34 | }; |
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| 35 | |
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[5] | 36 | public: |
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[13] | 37 | virtual ~ESC() { } |
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[5] | 38 | |
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[13] | 39 | /// Get internal monitor variable names. |
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| 40 | virtual std::vector<std::string> monitorNames() { return std::vector<std::string>(); } |
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| 41 | |
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| 42 | /// Get internal monitor variables. |
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| 43 | virtual std::vector<double> monitor() { return std::vector<double>(); } |
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[5] | 44 | |
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[13] | 45 | /// Get controller input type. |
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| 46 | virtual inputType getInputType() = 0; |
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| 47 | |
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| 48 | /// Get controller output type. |
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| 49 | virtual outputType getOutputType() = 0; |
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[5] | 50 | |
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[13] | 51 | /// Control step function for value-input control algorithms. |
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| 52 | virtual std::vector<double> step(std::vector<double> state, double obj_val) |
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| 53 | { |
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| 54 | return step(obj_val); |
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| 55 | } |
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[5] | 56 | |
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[13] | 57 | /// Control step function for state-input control algorithms. |
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| 58 | virtual std::vector<double> step(double obj_val) |
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| 59 | { |
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| 60 | return std::vector<double>(); |
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| 61 | } |
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[5] | 62 | |
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[13] | 63 | /// Reset control algorithm to initial conditions. |
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| 64 | virtual void reset() = 0; |
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[5] | 65 | }; |
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| 66 | |
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| 67 | #endif /* ESC_H_ */ |
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