ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

Interface class for all controllers. More...

#include <DiscreteController.h>

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

Public Types
typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Member Functions
	DiscreteController ()
	Default constructor. More...
	DiscreteController (const DiscreteController &other)
	Copy constructor. More...
virtual	~DiscreteController ()
	Destructor. More...
virtual DiscreteController *	clone () const =0
	Deep cloning. More...
virtual void	computeControl (const state_vector_t &state, const int n, control_vector_t &controlAction)=0
	Compute control signal. More...

Public Attributes
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::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >

Interface class for all controllers.

This is a pure interface class for Controllers that can be fed to any ControlledSystem. Any custom controller should derive from this class to ensure it is compatible with ControlledSystem and the Integrator.

Member Typedef Documentation

control_vector_t

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

typedef ControlVector<CONTROL_DIM, SCALAR> ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

Constructor & Destructor Documentation

DiscreteController() [1/2]

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

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

inline

Default constructor.

DiscreteController() [2/2]

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

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

inline

Copy constructor.

~DiscreteController()

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

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

inlinevirtual

Destructor.

References ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::clone(), ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl(), and n.

Member Function Documentation

clone()

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

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

pure virtual

Deep cloning.

Has to be implemented by any custom controller.

Implemented in ct::core::StateFeedbackController< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::~DiscreteController().

computeControl()

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

virtual void ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::computeControl ( const state_vector_t &  state, const int  n, control_vector_t &  controlAction  )

pure virtual

Compute control signal.

Evaluate the given controller for a given state and time index returns the computed control action.

This function has to be implemented by any custom controller

Parameters

state	current state of the system
n	current time index of the system
controlAction	the corresponding control action

Referenced by ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::~DiscreteController().

Member Data Documentation

state_vector_t

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef StateVector<STATE_DIM, SCALAR> ct::core::DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

---

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/control/discrete_time/DiscreteController.h