A constant controller. More...

#include <ConstantController.h>

Inheritance diagram for ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ConstantController ()
	Default constructor. More...

	ConstantController (ControlVector< CONTROL_DIM, SCALAR > &u)
	Constructor. More...

	ConstantController (const ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > &other)
	Copy constructor. More...

virtual	~ConstantController ()
	Destructor. More...

ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override
	Clone operator. More...

void	computeControl (const StateVector< STATE_DIM, SCALAR > &state, const SCALAR &t, ControlVector< CONTROL_DIM, SCALAR > &controlAction) override
	Computes current control. More...

void	computeControl (const StateVector< STATE_DIM, SCALAR > &state, const int n, ControlVector< CONTROL_DIM, SCALAR > &controlAction) override
	Equivalent method for discrete version. More...

void	setControl (const ControlVector< CONTROL_DIM, SCALAR > &u)
	Sets the control signal. More...

const ControlVector< CONTROL_DIM, SCALAR > &	getControl () const
	Get the fixed control signal. More...

virtual ControlMatrix< CONTROL_DIM, SCALAR >	getDerivativeU0 (const StateVector< STATE_DIM, SCALAR > &state, const SCALAR time) override
	Returns the the derivative of the control with respect to the initial control input u0. More...

Public Member Functions inherited from ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller ()
	Default constructor. More...

	Controller (const Controller &other)
	Copy constructor. More...

virtual	~Controller ()
	Destructor. More...

virtual ControlMatrix< CONTROL_DIM, SCALAR >	getDerivativeUf (const StateVector< STATE_DIM, SCALAR > &state, const SCALAR time)
	Returns the the derivative of the control with respect to the final control input uF. More...

Public Member Functions inherited from ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >
	DiscreteController ()
	Default constructor. More...

	DiscreteController (const DiscreteController &other)
	Copy constructor. More...

virtual	~DiscreteController ()
	Destructor. More...

virtual void	computeControl (const state_vector_t &state, const int n, control_vector_t &controlAction)=0
	Compute control signal. More...

Additional Inherited Members
Public Types inherited from ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >
typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Attributes inherited from ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef StateVector< STATE_DIM, SCALAR >	state_vector_t

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >

A constant controller.

Implements a controller that is time and state invariant, i.e. fully constant. This class is useful to integrate a ControlledSystem forward subject to a constant control input.

Constructor & Destructor Documentation

◆ ConstantController() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::ConstantController ( )

Default constructor.

Sets the control signal to zero

◆ ConstantController() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::ConstantController ( ControlVector< CONTROL_DIM, SCALAR > & u )

Constructor.

Initializes the control to a fixed value

Parameters

u	The fixed control signal

◆ ConstantController() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::ConstantController ( const ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > & other )

Copy constructor.

◆ ~ConstantController()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::~ConstantController ( )

virtual

Destructor.

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > * ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

overridevirtual

Clone operator.

Clones the controller. Used for cloning ControlledSystem's

Returns: pointer to cloned controller

Implements ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ computeControl() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl	(	const StateVector< STATE_DIM, SCALAR > &	state,
		const SCALAR &	t,
		ControlVector< CONTROL_DIM, SCALAR > &	controlAction
	)

overridevirtual

Computes current control.

Returns the fixed control signal. Therefore, the return value is invariant to the parameters.

Parameters

state	The current state of the system (ignored)
t	The time of the system (ignored)
controlAction	The (fixed) control action

Implements ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl().

◆ computeControl() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl	(	const StateVector< STATE_DIM, SCALAR > &	state,
		const int	n,
		ControlVector< CONTROL_DIM, SCALAR > &	controlAction
	)

override

Equivalent method for discrete version.

References ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl().

◆ setControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::setControl ( const ControlVector< CONTROL_DIM, SCALAR > & u )

Sets the control signal.

Parameters

u	The fixed control signal

◆ getControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

const ControlVector< CONTROL_DIM, SCALAR > & ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::getControl ( ) const

Get the fixed control signal.

Parameters

u	The control input to write the signal to.

◆ getDerivativeU0()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ControlMatrix< CONTROL_DIM, SCALAR > ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeU0	(	const StateVector< STATE_DIM, SCALAR > &	state,
		const SCALAR	time
	)

overridevirtual

Returns the the derivative of the control with respect to the initial control input u0.

Parameters

[in]	state	The state at which the method will be evaluated
[in]	time	The time at which the method will be evaluated

Returns: The derivatives with respect to u0.

Reimplemented from ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >.

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/continuous_time/ConstantController.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/continuous_time/ConstantController-impl.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >

Constructor & Destructor Documentation

◆ ConstantController() [1/3]

◆ ConstantController() [2/3]

◆ ConstantController() [3/3]

◆ ~ConstantController()

Member Function Documentation

◆ clone()

◆ computeControl() [1/2]

◆ computeControl() [2/2]

◆ setControl()

◆ getControl()

◆ getDerivativeU0()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >