A general, non-linear discrete dynamic system with a control input. More...

#include <DiscreteControlledSystem.h>

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

Public Types
typedef DiscreteSystem< STATE_DIM, CONTROL_DIM, SCALAR >	Base

typedef Base::state_vector_t	state_vector_t

typedef Base::control_vector_t	control_vector_t

typedef Base::time_t	time_t

Public Types inherited from ct::core::DiscreteSystem< STATE_DIM, CONTROL_DIM, SCALAR >
typedef int	time_t
	the type of the time variable More...

typedef StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Member Functions
	DiscreteControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

	DiscreteControlledSystem (std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	constructor More...

	DiscreteControlledSystem (const ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > &arg)
	copy constructor More...

virtual	~DiscreteControlledSystem ()=default
	destructor More...

virtual DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override=0
	deep copy More...

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

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

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

virtual void	propagateDynamics (const state_vector_t &state, const time_t n, state_vector_t &stateNext) override
	propagates the system dynamics forward by one step More...

virtual void	propagateControlledDynamics (const state_vector_t &state, const time_t n, const control_vector_t &control, state_vector_t &stateNext)=0
	propagates the controlled system dynamics forward by one step More...

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

virtual	~DiscreteSystem ()
	desctructor More...

virtual void	propagateDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t n, StateVector< STATE_DIM, SCALAR > &stateNext)=0
	propagates the system dynamics forward by one step More...

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	Ptr

Protected Attributes
std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR > >	controller_
	the controller instance More...

Protected Attributes inherited from ct::core::DiscreteSystem< STATE_DIM, CONTROL_DIM, SCALAR >
SYSTEM_TYPE	type_
	type of system More...

Detailed Description

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

A general, non-linear discrete dynamic system with a control input.

This describes a general, non-linear discrete dynamic system of the following form

$x_{n+1} = f(x_n,u_n,n)$

where $x_{n}$ is the state, $u_{n}$ the control input and $ n $ the time index.

For implementing your own ControlledSystem, derive from this class.

We generally assume that the Controller is a state and time index dependent function $ u_n = g(x_n,n) $ which allows any ControlledSystem to be re-written as a System of the form

$x_{n+1} = f(x_n,u_n(x_n,n),n) = g(x_n,n)$

which can be forward propagated directly.

Template Parameters

STATE_DIM	dimension of state vector
CONTROL_DIM	dimension of input vector
SCALAR	scalar type

Member Typedef Documentation

◆ Base

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef DiscreteSystem<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Base

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Base::state_vector_t ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Base::control_vector_t ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ time_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Base::time_t ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::time_t

Constructor & Destructor Documentation

◆ DiscreteControlledSystem() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::DiscreteControlledSystem ( const SYSTEM_TYPE & type = SYSTEM_TYPE::GENERAL )

inline

default constructor

Parameters

type	system type

◆ DiscreteControlledSystem() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::DiscreteControlledSystem	(	std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >>	controller,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

constructor

Parameters

controller	controller
type	system type

◆ DiscreteControlledSystem() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::DiscreteControlledSystem ( const ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > & arg )

inline

copy constructor

◆ ~DiscreteControlledSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

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

virtualdefault

destructor

Referenced by ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::DiscreteControlledSystem().

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

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

overridepure virtual

deep copy

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

Implemented in ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >, ct::core::DiscreteSystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >, ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::DiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::DiscreteLinearSystem< 2, 1, float >, ct::core::DiscreteLinearSystem< 2, 1, double >, ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::tpl::TestDiscreteNonlinearSystem< SCALAR >, ct::core::generated::TestDiscreteNonlinearSystemLinearized, ct::core::generated::TestDiscreteNonlinearSystemLinearizedDouble, and ct::core::generated::TestDiscreteNonlinearSystemLinearizedFloat.

Referenced by ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::DiscreteControlledSystem().

◆ setController()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

void ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::setController ( const std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >> & controller )

inline

set a new controller

Parameters

controller new controller

◆ getController() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

void ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getController ( std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >> & controller ) const

inline

get the controller instance

Todo:: remove this function (duplicate of getController() below)

Parameters

controller controller instance

◆ getController() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

std::shared_ptr<DiscreteController<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getController ( )

inline

get the controller instace

Returns: controller instance

◆ propagateDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual void ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateDynamics	(	const state_vector_t &	state,
		const time_t	n,
		state_vector_t &	stateNext
	)

inlineoverridevirtual

propagates the system dynamics forward by one step

evaluates $x_{n+1} = f(x_n, n)$ at a given state and index

Parameters

state	start state to propagate from
n	time index to propagate the dynamics at
stateNext	the resulting propagated state

◆ propagateControlledDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual void ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateControlledDynamics	(	const state_vector_t &	state,
		const time_t	n,
		const control_vector_t &	control,
		state_vector_t &	stateNext
	)

pure virtual

propagates the controlled system dynamics forward by one step

evaluates $x_{n+1} = f(x_n, u_n, n)$ at a given state, control and index

Parameters

state	start state to propagate from
control	the control input to apply. This is a constant control input applied to the continuous-time dynamics
n	time index to propagate the dynamics at
stateNext	the resulting propagated state

Implemented in ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::DiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::DiscreteLinearSystem< 2, 1, float >, ct::core::DiscreteLinearSystem< 2, 1, double >, and ct::core::tpl::TestDiscreteNonlinearSystem< SCALAR >.

Referenced by ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::propagateDynamics().

Member Data Documentation

◆ Ptr

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr<DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Ptr

◆ controller_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

std::shared_ptr<DiscreteController<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::controller_

protected

the controller instance

Referenced by ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::DiscreteControlledSystem(), ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::getController(), ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::propagateDynamics(), and ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, double >::setController().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/systems/discrete_time/DiscreteControlledSystem.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ time_t

Constructor & Destructor Documentation

◆ DiscreteControlledSystem() [1/3]

◆ DiscreteControlledSystem() [2/3]

◆ DiscreteControlledSystem() [3/3]

◆ ~DiscreteControlledSystem()

Member Function Documentation

◆ clone()

◆ setController()

◆ getController() [1/2]

◆ getController() [2/2]

◆ propagateDynamics()

◆ propagateControlledDynamics()

Member Data Documentation

◆ Ptr

◆ controller_

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