Changeset 13 for trunk/extremum_seeking/esc_common/include/esc_common/esc.h

Timestamp:

08/29/12 16:52:52 (12 years ago)

Author:

wcaarls

Message:

Updated extremum_seeking to revision 1017

File:

• trunk/extremum_seeking/esc_common/include/esc_common/esc.h (modified) (1 diff)

trunk/extremum_seeking/esc_common/include/esc_common/esc.h

@@ -15 +15 @@
 #include <string>
 #define PI 3.141592654
+
+/// Superclass for extremum seeking control algorithms.
 class ESC
 {
-public:
-
-        enum inputType { inputStateValue, inputValue };
-        enum outputType { outputVelocity, outputPosition };
+  public:
+    /// Controller input type
+    enum inputType
+    {
+      inputStateValue, ///< State-value input.
+      inputValue       ///< Value input.
+    };
+        
+    /// Controller output type.
+    enum outputType
+    {
+      outputVelocity,  ///< Velocity reference output.
+      outputPosition   ///< Position reference output.
+    };
 
 public:
-        virtual ~ESC() { }
+    virtual ~ESC() { }
 
-        virtual std::vector<std::string> monitorNames() { return std::vector<std::string>(); }
-        virtual std::vector<double> monitor() { return std::vector<double>(); }
+    /// Get internal monitor variable names.
+    virtual std::vector<std::string> monitorNames() { return std::vector<std::string>(); }
+        
+    /// Get internal monitor variables.
+    virtual std::vector<double> monitor() { return std::vector<double>(); }
 
-        virtual inputType getInputType() = 0;
-        virtual outputType getOutputType() = 0;
+    /// Get controller input type.
+    virtual inputType getInputType() = 0;
+        
+    /// Get controller output type.
+    virtual outputType getOutputType() = 0;
 
-        virtual std::vector<double> step(std::vector<double> state, double obj_val)
-        {
-                return step(obj_val);
-        }
+    /// Control step function for value-input control algorithms.
+    virtual std::vector<double> step(std::vector<double> state, double obj_val)
+    {
+      return step(obj_val);
+    }
 
-        virtual std::vector<double> step(double obj_val)
-        {
-                return std::vector<double>();
-        }
+    /// Control step function for state-input control algorithms.
+    virtual std::vector<double> step(double obj_val)
+    {
+      return std::vector<double>();
+    }
+
+    /// Reset control algorithm to initial conditions.
+    virtual void reset() = 0;
 };
 
-
 #endif /* ESC_H_ */