ct::core::PhaseSequence< Phase, Time > Class Template Reference

Describes a Phase sequence with timing. More...

#include <Switching.h>

Public Types
typedef std::vector< Phase >	PhaseSchedule_t
typedef std::vector< Time >	TimeSchedule_t

Public Member Functions
	PhaseSequence (const Time &start_time=0)
	Construct empty sequence (with default start time) More...
	~PhaseSequence ()
	Destructor. More...
void	addPhase (Phase phase, Time duration)
	add a phase with duration More...
std::size_t	getNumPhases () const
	get number of phases More...
std::size_t	getNumSwitches () const
	get number of switches More...
Time	getTotalDuration () const
	get sequence total duration More...
Time	getStartTimeFromIdx (std::size_t idx) const
	get start time from sequence index More...
Time	getEndTimeFromIdx (std::size_t idx) const
	get end time from sequence index More...
Phase	getPhaseFromIdx (std::size_t idx) const
	get phase pointer from sequence index More...
Phase	getPhaseFromTime (Time time) const
	get phase pointer from time More...
Phase	getFirstPhase () const
	get First phase pointer More...
Phase	getFinalPhase () const
	get Final phase pointer More...
SwitchEvent< Phase, Time >	getSwitchEventFromIdx (std::size_t idx) const
	get next switch event from sequence index More...
SwitchEvent< Phase, Time >	getSwitchEventFromTime (Time time) const
	get next switch event from time More...
std::size_t	getIdxFromTime (Time time) const
	get sequence index from time More...

Detailed Description

template<class Phase, typename Time>
class ct::core::PhaseSequence< Phase, Time >

Describes a Phase sequence with timing.

Each phase of the sequence has a start time, and end time Each event has a pre & post phase + switching time

Example: The following illustrates a sequence of 3 phases

• ----— + ----— + ----— + t0 p0 t1 p1 t2 p2 t3

It contains 4 times to define the sequence. Two of those are switching times: t1 and t2 There are two switching events: {p0, p1, t1} and {p1, p2, t2};

Member Typedef Documentation

PhaseSchedule_t

template<class Phase, typename Time>

typedef std::vector<Phase> ct::core::PhaseSequence< Phase, Time >::PhaseSchedule_t

TimeSchedule_t

template<class Phase, typename Time>

typedef std::vector<Time> ct::core::PhaseSequence< Phase, Time >::TimeSchedule_t

Constructor & Destructor Documentation

PhaseSequence()

template<class Phase, typename Time>

ct::core::PhaseSequence< Phase, Time >::PhaseSequence ( const Time &  start_time = 0 )

inline

Construct empty sequence (with default start time)

~PhaseSequence()

template<class Phase, typename Time>

ct::core::PhaseSequence< Phase, Time >::~PhaseSequence ( )

inline

Destructor.

Member Function Documentation

addPhase()

template<class Phase, typename Time>

void ct::core::PhaseSequence< Phase, Time >::addPhase ( Phase  phase, Time  duration  )

inline

add a phase with duration

Referenced by TEST().

getNumPhases()

template<class Phase, typename Time>

std::size_t ct::core::PhaseSequence< Phase, Time >::getNumPhases ( ) const

inline

get number of phases

Referenced by TEST().

getNumSwitches()

template<class Phase, typename Time>

std::size_t ct::core::PhaseSequence< Phase, Time >::getNumSwitches ( ) const

inline

get number of switches

Referenced by TEST().

getTotalDuration()

template<class Phase, typename Time>

Time ct::core::PhaseSequence< Phase, Time >::getTotalDuration ( ) const

inline

get sequence total duration

Referenced by TEST().

getStartTimeFromIdx()

template<class Phase, typename Time>

Time ct::core::PhaseSequence< Phase, Time >::getStartTimeFromIdx ( std::size_t  idx ) const

inline

get start time from sequence index

Referenced by TEST().

getEndTimeFromIdx()

template<class Phase, typename Time>

Time ct::core::PhaseSequence< Phase, Time >::getEndTimeFromIdx ( std::size_t  idx ) const

inline

get end time from sequence index

Referenced by TEST().

getPhaseFromIdx()

template<class Phase, typename Time>

Phase ct::core::PhaseSequence< Phase, Time >::getPhaseFromIdx ( std::size_t  idx ) const

inline

get phase pointer from sequence index

Referenced by TEST().

getPhaseFromTime()

template<class Phase, typename Time>

Phase ct::core::PhaseSequence< Phase, Time >::getPhaseFromTime ( Time  time ) const

inline

get phase pointer from time

Referenced by ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics(), ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB(), ct::core::SwitchedLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeControl(), ct::core::SwitchedLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getDerivativeState(), ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateControlledDynamics(), ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateControlledDynamics(), and TEST().

getFirstPhase()

template<class Phase, typename Time>

Phase ct::core::PhaseSequence< Phase, Time >::getFirstPhase ( ) const

inline

get First phase pointer

getFinalPhase()

template<class Phase, typename Time>

Phase ct::core::PhaseSequence< Phase, Time >::getFinalPhase ( ) const

inline

get Final phase pointer

getSwitchEventFromIdx()

template<class Phase, typename Time>

SwitchEvent<Phase, Time> ct::core::PhaseSequence< Phase, Time >::getSwitchEventFromIdx ( std::size_t  idx ) const

inline

get next switch event from sequence index

Referenced by TEST().

getSwitchEventFromTime()

template<class Phase, typename Time>

SwitchEvent<Phase, Time> ct::core::PhaseSequence< Phase, Time >::getSwitchEventFromTime ( Time  time ) const

inline

get next switch event from time

getIdxFromTime()

template<class Phase, typename Time>

std::size_t ct::core::PhaseSequence< Phase, Time >::getIdxFromTime ( Time  time ) const

inline

get sequence index from time

Referenced by TEST().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/switching/Switching.h