Computes the linearization of a system dynamics function through autodiff. More...

#include <DynamicsLinearizerAD.h>

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

Public Types
typedef Base::OUT_SCALAR	OUT_SCALAR
	scalar type of resulting linear system More...

typedef Base::state_vector_t	state_vector_t
	state vector type More...

typedef Base::control_vector_t	control_vector_t
	control vector type More...

typedef Base::state_matrix_t	state_matrix_t
	state Jacobian type (A) More...

typedef Base::state_control_matrix_t	state_control_matrix_t
	control Jacobian type (B) More...

typedef Base::dynamics_fct_t	dynamics_fct_t
	dynamics function signature More...

Public Types inherited from ct::core::internal::DynamicsLinearizerADBase< STATE_DIM, CONTROL_DIM, SCALAR, TIME >
typedef std::conditional<(std::is_same< SCALAR, CppAD::AD< double >>::value)\|\|(std::is_same< SCALAR, CppAD::AD< CppAD::cg::CG< double >>>::value), double, float >::type	OUT_SCALAR
	scalar type of resulting linear system More...

typedef StateVector< STATE_DIM, OUT_SCALAR >	state_vector_t

typedef ControlVector< CONTROL_DIM, OUT_SCALAR >	control_vector_t

typedef StateVector< STATE_DIM, SCALAR >	state_vector_ad_t

typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_ad_t

typedef StateMatrix< STATE_DIM, OUT_SCALAR >	state_matrix_t

typedef StateControlMatrix< STATE_DIM, CONTROL_DIM, OUT_SCALAR >	state_control_matrix_t

typedef std::function< void(const state_vector_ad_t &, const TIME &, const control_vector_ad_t &, state_vector_ad_t &)>	dynamics_fct_t
	dynamics function signature More...

Public Member Functions
	DynamicsLinearizerAD (dynamics_fct_t dyn)
	default constructor More...

	DynamicsLinearizerAD (const DynamicsLinearizerAD &rhs)
	copy constructor More...

const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const TIME t=TIME(0))

const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const TIME t=TIME(0))

Public Member Functions inherited from ct::core::internal::DynamicsLinearizerADBase< STATE_DIM, CONTROL_DIM, SCALAR, TIME >
	DynamicsLinearizerADBase (dynamics_fct_t dyn)
	default constructor More...

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

template<typename T = std::string>
std::enable_if< std::is_same< OUT_SCALAR, double >::value, T >::type	getOutScalarType () const

template<typename T = std::string>
std::enable_if< std::is_same< OUT_SCALAR, float >::value, T >::type	getOutScalarType () const

virtual	~DynamicsLinearizerADBase ()
	destructor More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef internal::DynamicsLinearizerADBase< STATE_DIM, CONTROL_DIM, SCALAR, TIME >	Base

Public Attributes inherited from ct::core::internal::DynamicsLinearizerADBase< STATE_DIM, CONTROL_DIM, SCALAR, TIME >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
void	computeA (const state_vector_t &x, const control_vector_t &u)
	compute the state Jacobian More...

void	computeB (const state_vector_t &x, const control_vector_t &u)
	compute the input Jacobian More...

Protected Member Functions inherited from ct::core::internal::DynamicsLinearizerADBase< STATE_DIM, CONTROL_DIM, SCALAR, TIME >
void	initialize ()
	initialize all utilities More...

void	recordTerms ()
	record the model More...

void	setupSparsityA ()
	setup the sparsity of the state Jacobian More...

void	setupSparsityB ()
	setup the sparsity of the input Jacobian More...

Protected Attributes
dynamics_fct_t	dynamics_fct_
	function handle to system dynamics More...

state_matrix_t	dFdx_
	Jacobian wrt state. More...

state_control_matrix_t	dFdu_
	Jacobian wrt input. More...

Protected Attributes inherited from ct::core::internal::DynamicsLinearizerADBase< STATE_DIM, CONTROL_DIM, SCALAR, TIME >
const size_t	A_entries = STATE_DIM * STATE_DIM
	number of entries in the state Jacobian More...

const size_t	B_entries = STATE_DIM * CONTROL_DIM
	number of entries in the input Jacobian More...

const size_t	FullJac_entries
	number of entries in the stacked Jacobian More...

dynamics_fct_t	dynamics_fct_
	function handle to system dynamics More...

CppAD::ADFun< typename SCALAR::value_type >	f_
	Auto-Diff function. More...

SparsityPattern	sparsityA_
	sparsity pattern of the state Jacobian More...

SparsityPattern	sparsityB_
	sparsity pattern of the input Jacobian More...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>
class ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >

Computes the linearization of a system dynamics function through autodiff.

This class takes a function handle representing system dynamics of the form $f(x(t),t,u(t),\dot{x(t)})$ or $ f(x[n],n,u[n],x[n+1]) $ where the last argument is the result of the evaluation in each case. It then computes the linearization around a given point $ x = x_s $ , $ u = u_s $ .

Template Parameters

STATE_DIM	dimension of state vector
CONTROL_DIM	dimension of control vector
SCALAR	scalar type
TIME	type of time variable of dynamics

Member Typedef Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

typedef Base::OUT_SCALAR ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::OUT_SCALAR

scalar type of resulting linear system

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

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

state vector type

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

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

control vector type

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

typedef Base::state_matrix_t ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::state_matrix_t

state Jacobian type (A)

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

typedef Base::state_control_matrix_t ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::state_control_matrix_t

control Jacobian type (B)

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

typedef Base::dynamics_fct_t ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::dynamics_fct_t

dynamics function signature

Constructor & Destructor Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::DynamicsLinearizerAD ( dynamics_fct_t dyn )

inline

default constructor

Parameters

dyn	function handle to system dynamics

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::DynamicsLinearizerAD ( const DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME > & rhs )

inline

copy constructor

Member Function Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

const state_matrix_t& ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::getDerivativeState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const TIME	t = `TIME(0)`
	)

inline

Referenced by ct::core::DiscreteSystemLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB(), ct::core::DiscreteSystemLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), and ct::core::AutoDiffLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState().

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

const state_control_matrix_t& ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::getDerivativeControl	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const TIME	t = `TIME(0)`
	)

inline

Referenced by ct::core::DiscreteSystemLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB(), ct::core::DiscreteSystemLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), and ct::core::AutoDiffLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl().

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

void ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::computeA	(	const state_vector_t &	x,
		const control_vector_t &	u
	)

inlineprotected

compute the state Jacobian

Parameters

x	state to linearize around
u	input to linearize around

Referenced by ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, ADScalar, int >::getDerivativeState().

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

void ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::computeB	(	const state_vector_t &	x,
		const control_vector_t &	u
	)

inlineprotected

compute the input Jacobian

Parameters

x	state to linearize around
u	input to linearize around

Referenced by ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, ADScalar, int >::getDerivativeControl().

Member Data Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef internal::DynamicsLinearizerADBase<STATE_DIM, CONTROL_DIM, SCALAR, TIME> ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::Base

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

dynamics_fct_t ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::dynamics_fct_

protected

function handle to system dynamics

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

state_matrix_t ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::dFdx_

protected

Jacobian wrt state.

Referenced by ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, ADScalar, int >::computeA(), and ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, ADScalar, int >::getDerivativeState().

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>

state_control_matrix_t ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::dFdu_

protected

Jacobian wrt input.

Referenced by ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, ADScalar, int >::computeB(), and ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, ADScalar, int >::getDerivativeControl().

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

/home/adrl/code/src/control-toolbox/ct_core/include/ct/core/systems/linearizer/DynamicsLinearizerAD.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME> class ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR, typename TIME>
class ct::core::DynamicsLinearizerAD< STATE_DIM, CONTROL_DIM, SCALAR, TIME >