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

#include <DynamicsLinearizerADCG.h>

Inheritance diagram for ct::core::DynamicsLinearizerADCG< 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
	DynamicsLinearizerADCG (dynamics_fct_t dyn, bool cacheJac=true)
	default constructor More...

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

const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const OUT_SCALAR t=0.0)
	compute and return derivative w.r.t. state More...

const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const OUT_SCALAR t=0.0)
	compute and return derivative w.r.t. control More...

void	compileJIT (const std::string &libName="DynamicsLinearizerADCG", bool verbose=false)
	compile just-in-time More...

void	generateCode (std::string &codeJacA, std::string &codeJacB, bool useReverse=false, bool ignoreZero=true)
	generates source code More...

void	getMaxTempVarCount (size_t &maxTempVarCountState, size_t &maxTempVarCountControl) const
	accessor to maxTempVarCount variables More...

const std::shared_ptr< CppAD::cg::DynamicLib< OUT_SCALAR > >	getDynamicLib () const
	retrieve the dynamic library, e.g. for testing purposes More...

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	computeJacobian (const state_vector_t &x, const control_vector_t &u)
	computes the Jacobians 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...

state_vector_t	x_at_cache_
	state at which Jacobian has been cached More...

control_vector_t	u_at_cache_
	input at which Jacobian has been cached More...

std::string	jitLibName_
	name of the library compiled with JIT More...

bool	compiled_
	flag if library from generated code is compiled More...

bool	cacheJac_
	flag if Jacobian will be cached More...

CppAD::cg::GccCompiler< OUT_SCALAR >	compiler_
	compiler instance for JIT compilation More...

std::shared_ptr< CppAD::cg::DynamicLib< OUT_SCALAR > >	dynamicLib_
	compiled and dynamically loaded library More...

std::shared_ptr< CppAD::cg::GenericModel< OUT_SCALAR > >	model_
	Auto-Diff model. More...

size_t	maxTempVarCountState_
	number of temporary variables in the source code of the state Jacobian More...

size_t	maxTempVarCountControl_
	number of temporary variables in the source code of the input Jacobian 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::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >

Computes the linearization of a system dynamics function through autodiff with code generation.

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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::DynamicsLinearizerADCG	(	dynamics_fct_t	dyn,
		bool	cacheJac = `true`
	)

inline

default constructor

Initializes the DynamicsLinearizerADCG with the system dynamics

Parameters

dyn	function handle to system dynamics
cacheJac	if true, caches the Jacobians to prevent recomputation for same state/control

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

ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::DynamicsLinearizerADCG ( const DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::getDerivativeState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const OUT_SCALAR	t = `0.0`
	)

inline

compute and return derivative w.r.t. state

Warning: Call compileJIT() before calling this function

Parameters

x	state to linearize at
u	control to linearize at
t	time

Returns: Jacobian w.r.t. state

Referenced by ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB(), ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), and ct::core::ADCodegenLinearizer< state_dim, control_dim >::getDerivativeState().

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

const state_control_matrix_t& ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::getDerivativeControl	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const OUT_SCALAR	t = `0.0`
	)

inline

compute and return derivative w.r.t. control

Warning: Call compileJIT() before calling this function

Parameters

x	state to linearize at
u	control to linearize at
t	time

Returns: Jacobian w.r.t. control

Referenced by ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB(), ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), and ct::core::ADCodegenLinearizer< state_dim, control_dim >::getDerivativeControl().

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

void ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::compileJIT	(	const std::string &	libName = `"DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >"`,
		bool	verbose = `false`
	)

inline

compile just-in-time

Generates the source code, compiles it and dynamically loads the resulting library.

Note: If this function takes a long time, consider generating the source code using generateCode() and compile it before runtime.

Referenced by ct::core::ADCodegenLinearizer< state_dim, control_dim >::compileJIT(), and ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::compileJIT().

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

void ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::generateCode	(	std::string &	codeJacA,
		std::string &	codeJacB,
		bool	useReverse = `false`,
		bool	ignoreZero = `true`
	)

inline

generates source code

This generates source code for computing the system linearization. The generated string should be passed to a function which writes the generated code to a file.

This function uses a template file in which it replaces two placeholders, each identified as the string "AUTOGENERATED_CODE_PLACEHOLDER"

Parameters

[out]	codeJacA	string with the generated code for the A matrix
[out]	codeJacB	string with the generated code for the B matrix
[in]	useReverse	if true, uses Auto-Diff reverse mode
[in]	ignoreZero	if true, zero entries are not assigned zero

Referenced by ct::core::ADCodegenLinearizer< state_dim, control_dim >::generateCode(), and ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::generateCode().

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

void ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::getMaxTempVarCount	(	size_t &	maxTempVarCountState,
		size_t &	maxTempVarCountControl
	)		const

inline

accessor to maxTempVarCount variables

Referenced by ct::core::ADCodegenLinearizer< state_dim, control_dim >::getLinearizer(), and ct::core::DiscreteSystemLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR >::getLinearizer().

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

const std::shared_ptr<CppAD::cg::DynamicLib<OUT_SCALAR> > ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::getDynamicLib ( ) const

inline

retrieve the dynamic library, e.g. for testing purposes

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

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

inlineprotected

computes the Jacobians

Given a state and input this method evaluates both Jacobians and caches them

Parameters

x	state to linearize around
u	input to linearize around

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeControl(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeState().

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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::dFdx_

protected

Jacobian wrt state.

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::computeJacobian(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeState().

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

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

protected

Jacobian wrt input.

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::computeJacobian(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeControl().

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

state_vector_t ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::x_at_cache_

protected

state at which Jacobian has been cached

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::computeJacobian(), ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeControl(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeState().

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

control_vector_t ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::u_at_cache_

protected

input at which Jacobian has been cached

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::computeJacobian(), ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeControl(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeState().

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

std::string ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::jitLibName_

protected

name of the library compiled with JIT

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::compileJIT(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::DynamicsLinearizerADCG().

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

bool ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::compiled_

protected

flag if library from generated code is compiled

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::compileJIT(), ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::DynamicsLinearizerADCG(), ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeControl(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeState().

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

bool ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::cacheJac_

protected

flag if Jacobian will be cached

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeControl(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDerivativeState().

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

CppAD::cg::GccCompiler<OUT_SCALAR> ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::compiler_

protected

compiler instance for JIT compilation

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::compileJIT().

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

std::shared_ptr<CppAD::cg::DynamicLib<OUT_SCALAR> > ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::dynamicLib_

protected

compiled and dynamically loaded library

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::compileJIT(), ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::DynamicsLinearizerADCG(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getDynamicLib().

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

std::shared_ptr<CppAD::cg::GenericModel<OUT_SCALAR> > ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::model_

protected

Auto-Diff model.

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::compileJIT(), ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::computeJacobian(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::DynamicsLinearizerADCG().

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

size_t ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::maxTempVarCountState_

protected

number of temporary variables in the source code of the state Jacobian

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::generateCode(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getMaxTempVarCount().

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

size_t ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >::maxTempVarCountControl_

protected

number of temporary variables in the source code of the input Jacobian

Referenced by ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::generateCode(), and ct::core::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, ADCGScalar, ADCGScalar >::getMaxTempVarCount().

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

/home/adrl/code/src/control-toolbox/ct_core/include/ct/core/systems/linearizer/DynamicsLinearizerADCG.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::DynamicsLinearizerADCG< 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::DynamicsLinearizerADCG< STATE_DIM, CONTROL_DIM, SCALAR, TIME >