Linear system class for the GNMS unit test. More...

Inheritance diagram for LinearizedOscillator:

Public Member Functions
const state_matrix_t &	getDerivativeState (const StateVector< 2 > &x, const ControlVector< 1 > &u, const double t=0.0) override

const state_control_matrix_t &	getDerivativeControl (const StateVector< 2 > &x, const ControlVector< 1 > &u, const double t=0.0) override

LinearizedOscillator *	clone () const override
	deep cloning More...

Public Member Functions inherited from ct::core::LinearSystem< 2, 1 >
	LinearSystem (const ct::core::SYSTEM_TYPE &type=ct::core::SYSTEM_TYPE::GENERAL)
	default constructor More...

virtual	~LinearSystem ()
	destructor More...

virtual void	computeControlledDynamics (const state_vector_t &state, const time_t &t, const control_vector_t &control, state_vector_t &derivative) override
	compute the system dynamics More...

virtual const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0
	get the A matrix of a linear system More...

virtual const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0
	get the B matrix of a linear system More...

virtual void	getDerivatives (state_matrix_t &A, state_control_matrix_t &B, const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))
	Get both linear system matrices A and B in one call. More...

Public Member Functions inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, double >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	constructor More...

	ControlledSystem (const ControlledSystem &arg)
	copy constructor More...

virtual	~ControlledSystem ()
	destructor More...

void	setController (const std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double >> &controller)
	set a new controller More...

void	getController (std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double >> &controller) const
	get the controller instance More...

std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double > >	getController ()
	get the controller instace More...

virtual void	computeDynamics (const StateVector< STATE_DIM, double > &state, const time_t &t, StateVector< STATE_DIM, double > &derivative) override
	compute the dynamics of the system More...

ControlVector< CONTROL_DIM, double >	getLastControlAction ()

Public Member Functions inherited from ct::core::System< STATE_DIM, double >
	System (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

	System (const System &other)
	copy constructor More...

virtual	~System ()
	destructor More...

virtual void	computeDynamics (const StateVector< STATE_DIM, double > &state, const time_t &t, StateVector< STATE_DIM, double > &derivative)=0
	computes the system dynamics More...

SYSTEM_TYPE	getType () const
	get the type of system More...

virtual bool	isSymplectic () const
	Determines if the system is in symplectic form. More...

Public Attributes
state_matrix_t	A_

state_control_matrix_t	B_

Public Attributes inherited from ct::core::LinearSystem< 2, 1 >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< STATE_DIM, CONTROL_DIM, double >	Base

Public Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< STATE_DIM, double >	Base

Public Attributes inherited from ct::core::System< STATE_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double	S
	the scalar type More...

Additional Inherited Members
Public Types inherited from ct::core::LinearSystem< 2, 1 >
typedef Base::time_t	time_t

typedef StateVector< STATE_DIM, double >	state_vector_t
	state vector type More...

typedef ControlVector< CONTROL_DIM, double >	control_vector_t
	input vector type More...

typedef StateMatrix< STATE_DIM, double >	state_matrix_t
	state Jacobian type More...

typedef StateControlMatrix< STATE_DIM, CONTROL_DIM, double >	state_control_matrix_t
	input Jacobian type More...

Public Types inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
typedef std::shared_ptr< ControlledSystem< STATE_DIM, CONTROL_DIM, double > >	Ptr

typedef Base::time_t	time_t

Public Types inherited from ct::core::System< STATE_DIM, double >
typedef double	time_t
	the type of the time variable More...

Protected Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, double >
std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double > >	controller_
	the controller instance More...

ControlVector< CONTROL_DIM, double >	controlAction_

Protected Attributes inherited from ct::core::System< STATE_DIM, double >
SYSTEM_TYPE	type_
	type of system More...

Detailed Description

Linear system class for the GNMS unit test.

Member Function Documentation

◆ getDerivativeState()

const state_matrix_t& LinearizedOscillator::getDerivativeState	(	const StateVector< 2 > &	x,
		const ControlVector< 1 > &	u,
		const double	t = `0.0`
	)

inlineoverride

◆ getDerivativeControl()

const state_control_matrix_t& LinearizedOscillator::getDerivativeControl	(	const StateVector< 2 > &	x,
		const ControlVector< 1 > &	u,
		const double	t = `0.0`
	)

inlineoverride

◆ clone()

LinearizedOscillator* LinearizedOscillator::clone ( ) const

inlineoverridevirtual

deep cloning

Implements ct::core::LinearSystem< 2, 1 >.

Member Data Documentation

◆ A_

state_matrix_t LinearizedOscillator::A_

◆ B_

state_control_matrix_t LinearizedOscillator::B_

The documentation for this class was generated from the following file:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/test/SensitivityIntegratorTest.cpp

Public Member Functions

Public Attributes

Additional Inherited Members