libhybrid.c File Reference

#include "libhybrid.h"

Go to the source code of this file.

Functions
hyb_errorcode	hyb_main_loop (hyb_opts *opts, hyb_float *y, hyb_float *xp, hyb_float tau, const hyb_float *x, const hyb_float *u, const hyb_float **p)
	Hybrid system main loop. More...
void	hyb_flow_map_wrapper (hyb_float *dx, hyb_float tau, const hyb_float *x, const hyb_float *u, const hyb_float **p, void *vopts)
	Internal callback for discretization step. More...

Detailed Description

Author

Matteo Ragni, Matteo Cocetti

Date

10 Jan 2018

Definition in file libhybrid.c.

Function Documentation

void hyb_flow_map_wrapper	(	hyb_float *	dx,
		hyb_float	tau,
		const hyb_float *	x,
		const hyb_float *	u,
		const hyb_float **	p,
		void *	vopts
	)

Internal callback for discretization step.

Warning

This is for internal use only, do not use directly. This callback has been implemented in order to respond to rk4_ode requirements.

Parameters

dx	output of the callback
tau	hybrid time step, is probably different with respect to the evolution time
x	the current state, contains time and jump state
u	the current control
p	the parameter vector of vectors
vopts	a void pointer for user space, is used for passing by the options struct

Definition at line 66 of file libhybrid.c.

                                                                                                                                  {
  dx[0] = 1.0;
  dx[1] = 0.0;
  HYB_GET_OPTS(vopts)->F(dx + 2, x[0], x[1], x + 2, u, p);
}

hyb_errorcode hyb_main_loop	(	hyb_opts *	opts,
		hyb_float *	y,
		hyb_float *	xp,
		hyb_float	tau,
		const hyb_float *	x,
		const hyb_float *	u,
		const hyb_float **	p
	)

Hybrid system main loop.

The main loop of the hybrid system performs the following operations:

1. Check if stop criteria is reached
2. Check if the jump conditions are respected.
   • if jump is requsted, it enters a loop of update until no jump should be performed
   • else the execution continues
3. The

   Parameters

   opts	pointer to an option structure
   y	vector that will contain the next output. It must be already allocated
   xp	vector that will contain the next state (already integrated in case of flowing step). It must be already allocated
   tau	integration engine time
   x	current state
   u	current input
   p	parameter vector

   Returns

   an exit codes, as described in hyb_errorcode

Definition at line 31 of file libhybrid.c.

                                                                                                                                                     {

  opts->Y(y, x[0], x[1], x + 2, u, p);

  if (x[0] >= opts->T_horizon)
    return HYB_TLIMIT;
  if (x[1] >= opts->J_horizon)
    return HYB_JLIMIT;

  hyb_bool d = opts->D(x[0], x[1], x + 2, u, p);
  #if HYB_JUMP_LOGIC == 2
    hyb_bool c = opts->C(x[0], x[1], x + 2, u, p);
  #endif

  hyb_bool it_jumps;
  #if HYB_JUMP_LOGIC == 1
    it_jumps = d;
  #elif HYB_JUMP_LOGIC == 2
    it_jumps = d && !c;
  #endif

  if (it_jumps) {
    xp[0] = x[0];
    xp[1] = x[1] + 1.0;
    opts->J(xp + 2, x[0], x[1], x + 2, u, p);
  } else {
    rk4_opts rk4_o = { opts->Ts, (opts->x_size + 2), hyb_flow_map_wrapper };
    rk4_errorcode rk4_ret = rk4(&rk4_o, xp, tau, x, u, p, HYB_SEND_OPTS(opts));
    if (rk4_ret) {
      return (hyb_errorcode)rk4_ret;
    }
  }
  return HYB_SUCCESS;
}