interface class for a general linear system or linearized system More...

#include <LinearSystem.h>

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

Public Types
typedef Base::time_t	time_t

typedef StateVector< STATE_DIM, SCALAR >	state_vector_t
	state vector type More...

typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_t
	input vector type More...

typedef StateMatrix< STATE_DIM, SCALAR >	state_matrix_t
	state Jacobian type More...

typedef StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR >	state_control_matrix_t
	input Jacobian type More...

Public Types inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
typedef std::shared_ptr< ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	Ptr

typedef Base::time_t	time_t

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

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

virtual	~LinearSystem ()
	destructor More...

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

virtual void	computeControlledDynamics (const state_vector_t &state, const time_t &t, const control_vector_t &control, state_vector_t &derivative) override
	compute the system dynamics More...

virtual const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0
	get the A matrix of a linear system More...

virtual const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0
	get the B matrix of a linear system More...

virtual void	getDerivatives (state_matrix_t &A, state_control_matrix_t &B, const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))
	Get both linear system matrices A and B in one call. More...

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

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	constructor More...

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

virtual	~ControlledSystem ()
	destructor More...

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

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

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

virtual void	computeDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative) override
	compute the dynamics of the system More...

virtual void	computeControlledDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, const ControlVector< CONTROL_DIM, SCALAR > &control, StateVector< STATE_DIM, SCALAR > &derivative)=0

ControlVector< CONTROL_DIM, SCALAR >	getLastControlAction ()

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

	System (const System &other)
	copy constructor More...

virtual	~System ()
	destructor More...

virtual void	computeDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative)=0
	computes the system dynamics More...

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

virtual bool	isSymplectic () const
	Determines if the system is in symplectic form. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >	Base

Public Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< STATE_DIM, SCALAR >	Base

Public Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SCALAR	S
	the scalar type More...

Additional Inherited Members
Protected Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, SCALAR > >	controller_
	the controller instance More...

ControlVector< CONTROL_DIM, SCALAR >	controlAction_

Protected Attributes inherited from ct::core::System< STATE_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::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >

interface class for a general linear system or linearized system

Defines the interface for a linear system

Template Parameters

STATE_DIM	size of state vector
CONTROL_DIM	size of input vector

Member Typedef Documentation

◆ time_t

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

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

◆ state_vector_t

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

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

state vector type

◆ control_vector_t

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

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

input vector type

◆ state_matrix_t

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

typedef StateMatrix<STATE_DIM, SCALAR> ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

state Jacobian type

◆ state_control_matrix_t

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

typedef StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_t

input Jacobian type

Constructor & Destructor Documentation

◆ LinearSystem()

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

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

inline

default constructor

Parameters

type	system type

◆ ~LinearSystem()

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

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

inlinevirtual

destructor

Member Function Documentation

◆ clone()

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

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

overridepure virtual

deep cloning

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

Implemented in ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >, ct::core::SwitchedLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >, LinearizedOscillator, ct::core::LTISystem< STATE_DIM, CONTROL_DIM >, ct::core::generated::TestNonlinearSystemLinearized, ct::optcon::example::DiehlSystemLinear, ct::optcon::example::LinearizedSystem, ct::optcon::example::LinearizedSystem, ct::optcon::example::tpl::LinearOscillatorLinear< class >, LinkedMasses, ct::optcon::example::MIMOIntegratorLinear< state_dim, control_dim >, ct::optcon::example::SpringLoadedMassLinear, ct::models::HyA::HyALinearizedForward, ct::models::HyA::HyALinearizedReverse, ct::models::HyQ::HyQBareModelLinearizedForward, ct::models::HyQ::HyQBareModelLinearizedReverse, ct::models::HyQ::HyQWithContactModelLinearizedForward, ct::models::HyQ::HyQWithContactModelLinearizedReverse, ct::models::InvertedPendulum::InvertedPendulumActDynLinearizedForward, and ct::models::QuadrotorLinear.

Referenced by ct::core::LinearSystem< 2, 1 >::~LinearSystem().

◆ computeControlledDynamics()

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

virtual void ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics	(	const state_vector_t &	state,
		const time_t &	t,
		const control_vector_t &	control,
		state_vector_t &	derivative
	)

inlineoverridevirtual

compute the system dynamics

This computes the system dynamics

$\dot{x} = Ax + Bu$

Parameters

state	current state
t	current time
control	control input
derivative	state derivative

◆ getDerivativeState()

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

virtual const state_matrix_t& ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const time_t	t = `time_t(0.0)`
	)

pure virtual

get the A matrix of a linear system

Parameters

x	state vector (required for linearizing non-linear systems, ignored for pure linear system)
u	input vector (required for linearizing non-linear systems, ignored for pure linear system)
t	current time

Returns: A matrix

Implemented in ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::core::SwitchedLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::core::LinearSystem< 2, 1 >::computeControlledDynamics(), and ct::core::LinearSystem< 2, 1 >::getDerivatives().

◆ getDerivativeControl()

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

virtual const state_control_matrix_t& ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const time_t	t = `time_t(0.0)`
	)

pure virtual

get the B matrix of a linear system

Parameters

x	state vector (required for linearizing non-linear systems, ignored for pure linear system)
u	input vector (required for linearizing non-linear systems, ignored for pure linear system)
t	current time

Returns: B matrix

Implemented in ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::core::SwitchedLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::core::LinearSystem< 2, 1 >::computeControlledDynamics(), and ct::core::LinearSystem< 2, 1 >::getDerivatives().

◆ getDerivatives()

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

virtual void ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivatives	(	state_matrix_t &	A,
		state_control_matrix_t &	B,
		const state_vector_t &	x,
		const control_vector_t &	u,
		const time_t	t = `time_t(0.0)`
	)

inlinevirtual

Get both linear system matrices A and B in one call.

Motvation: For certain derived instances, it may be more efficient to compute A and B simulatenously. In that case, this method can be overloaded for maximum efficiency. As default case, it simply calls above methods independently.

Parameters

A	matrix A of linear system
B	matrix B of linear system
x	the current state
u	the current input
t	the current time

Member Data Documentation

◆ Base

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Base

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/continuous_time/linear/LinearSystem.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ time_t

◆ state_vector_t

◆ control_vector_t

◆ state_matrix_t

◆ state_control_matrix_t

Constructor & Destructor Documentation

◆ LinearSystem()

◆ ~LinearSystem()

Member Function Documentation

◆ clone()

◆ computeControlledDynamics()

◆ getDerivativeState()

◆ getDerivativeControl()

◆ getDerivatives()

Member Data Documentation

◆ Base

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