linear_transfer_system.h

/* Copyright (C) 204-2009 MBSim Development Team
 *
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 *  
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
 * Lesser General Public License for more details. 
 *  
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: martin.o.foerg@gmail.com
 */
 
#ifndef _LINEAR_TRANSFER_SYSTEM_
#define _LINEAR_TRANSFER_SYSTEM_
 
#include "mbsimControl/signal_.h"
 
namespace MBSimControl {
 
  class LinearTransferSystem : public Signal {
 
    public:   
      LinearTransferSystem(const std::string& name="") : Signal(name) { }
 
      void initializeUsingXML(xercesc::DOMElement * element) override;
      
      void calcxSize() override { xSize = A.rows(); }
      
      void init(InitStage stage, const MBSim::InitConfigSet &config) override;
 
      void setInitialState(const fmatvec::Vec &x0_) { x0 <<= x0_; }
 
      void updateSignal() override;
      void updatexd() override;
      
      void setSystemMatrix(const fmatvec::SqrMatV &A_) { A <<= A_; }
      void setInputMatrix(const fmatvec::MatV &B_) { B <<= B_; }
      void setOutputMatrix(const fmatvec::MatV &C_) { C <<= C_; }
      void setFeedthroughMatrix(const fmatvec::MatV &D_) { D <<= D_; }
 
      void setInputSignal(Signal * inputSignal_) { inputSignal = inputSignal_; }
      int getSignalSize() const override { return C()?C.rows():A.size(); }
 
    protected:
      Signal* inputSignal{nullptr};
      std::string inputSignalString;
      fmatvec::SqrMatV A;
      fmatvec::MatV B, C, D;
      bool feedthrough{true};
  };
 
}
 
#endif