#include <Sensitivity.h>

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

Public Types
typedef std::shared_ptr< ControlVectorArray< CONTROL_DIM, SCALAR > >	ControlVectorArrayPtr

Public Types inherited from ct::core::DiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >
typedef Base::time_t	time_t

typedef Base::state_vector_t	state_vector_t

typedef Base::control_vector_t	control_vector_t

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::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
typedef DiscreteSystem< STATE_DIM, CONTROL_DIM, SCALAR >	Base

typedef Base::state_vector_t	state_vector_t

typedef Base::control_vector_t	control_vector_t

typedef Base::time_t	time_t

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

typedef StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Member Functions
	Sensitivity ()

virtual	~Sensitivity ()

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

virtual void	setLinearSystem (const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &linearSystem)=0

virtual void	setTimeDiscretization (const SCALAR &dt)=0
	update the time discretization More...

virtual void	setApproximation (const SensitivityApproximationSettings::APPROXIMATION &approx)
	update the approximation type for the discrete-time system More...

void	setSubstepTrajectoryReference (std::vector< StateVectorArrayPtr, Eigen::aligned_allocator< StateVectorArrayPtr >> xSubstep, std::vector< ControlVectorArrayPtr, Eigen::aligned_allocator< ControlVectorArrayPtr >> uSubstep)

virtual void	getAandB (const StateVector< STATE_DIM, SCALAR > &x, const ControlVector< CONTROL_DIM, SCALAR > &u, const StateVector< STATE_DIM, SCALAR > &x_next, const int n, size_t numSteps, StateMatrix< STATE_DIM, SCALAR > &A, StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR > &B) override=0

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

virtual	~DiscreteLinearSystem ()
	destructor More...

virtual void	propagateControlledDynamics (const state_vector_t &state, const time_t n, const control_vector_t &control, state_vector_t &stateNext) override
	compute the system dynamics More...

virtual void	getAandB (const state_vector_t &x, const control_vector_t &u, const state_vector_t &x_next, const int n, size_t subSteps, state_matrix_t &A, state_control_matrix_t &B)=0
	retrieve discrete-time linear system matrices A and B. More...

void	getAandB (const state_vector_t &x, const control_vector_t &u, const int n, state_matrix_t &A, state_control_matrix_t &B)

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

	DiscreteControlledSystem (std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	constructor More...

	DiscreteControlledSystem (const ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > &arg)
	copy constructor More...

virtual	~DiscreteControlledSystem ()=default
	destructor More...

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

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

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

virtual void	propagateDynamics (const state_vector_t &state, const time_t n, state_vector_t &stateNext) override
	propagates the system dynamics forward by one step More...

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

virtual	~DiscreteSystem ()
	desctructor More...

virtual void	propagateDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t n, StateVector< STATE_DIM, SCALAR > &stateNext)=0
	propagates the system dynamics forward by one step More...

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< StateVectorArray< STATE_DIM, SCALAR > >	StateVectorArrayPtr

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

Public Attributes inherited from ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr< DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	Ptr

Protected Attributes
std::vector< StateVectorArrayPtr, Eigen::aligned_allocator< StateVectorArrayPtr > > *	xSubstep_

std::vector< ControlVectorArrayPtr, Eigen::aligned_allocator< ControlVectorArrayPtr > > *	uSubstep_

Protected Attributes inherited from ct::core::DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR > >	controller_
	the controller instance More...

Protected Attributes inherited from ct::core::DiscreteSystem< STATE_DIM, CONTROL_DIM, SCALAR >
SYSTEM_TYPE	type_
	type of system More...

Member Typedef Documentation

◆ ControlVectorArrayPtr

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

typedef std::shared_ptr<ControlVectorArray<CONTROL_DIM, SCALAR> > ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::ControlVectorArrayPtr

Constructor & Destructor Documentation

◆ Sensitivity()

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

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

inline

◆ ~Sensitivity()

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

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

inlinevirtual

Member Function Documentation

◆ clone()

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

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

inlineoverridevirtual

deep cloning

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

Reimplemented in ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >.

References dt.

◆ setLinearSystem()

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

virtual void ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::setLinearSystem ( const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> & linearSystem )

pure virtual

Implemented in ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >.

◆ setTimeDiscretization()

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

virtual void ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::setTimeDiscretization ( const SCALAR & dt )

pure virtual

update the time discretization

Implemented in ct::core::SensitivityIntegrator< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >, and ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >.

◆ setApproximation()

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

virtual void ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::setApproximation ( const SensitivityApproximationSettings::APPROXIMATION & approx )

inlinevirtual

update the approximation type for the discrete-time system

Reimplemented in ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >.

◆ setSubstepTrajectoryReference()

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

void ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::setSubstepTrajectoryReference	(	std::vector< StateVectorArrayPtr, Eigen::aligned_allocator< StateVectorArrayPtr >> *	xSubstep,
		std::vector< ControlVectorArrayPtr, Eigen::aligned_allocator< ControlVectorArrayPtr >> *	uSubstep
	)

inline

Set the trajectory reference for linearization. This should also include potential substeps that the integrator produces.

Parameters

x
u

References n, u, and x.

◆ getAandB()

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

virtual void ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB	(	const StateVector< STATE_DIM, SCALAR > &	x,
		const ControlVector< CONTROL_DIM, SCALAR > &	u,
		const StateVector< STATE_DIM, SCALAR > &	x_next,
		const int	n,
		size_t	numSteps,
		StateMatrix< STATE_DIM, SCALAR > &	A,
		StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR > &	B
	)

overridepure virtual

retrieve discrete-time linear system matrices A and B.

Parameters

x	the state setpoint
u	the control setpoint
n	the time setpoint
numSteps	number of timesteps of trajectory for which to get the sensitivity for
A	the resulting linear system matrix A
B	the resulting linear system matrix B

Member Data Documentation

◆ StateVectorArrayPtr

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr<StateVectorArray<STATE_DIM, SCALAR> > ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::StateVectorArrayPtr

◆ xSubstep_

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

std::vector<StateVectorArrayPtr, Eigen::aligned_allocator<StateVectorArrayPtr> >* ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::xSubstep_

protected

Referenced by ct::core::SensitivityIntegrator< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getAandB().

◆ uSubstep_

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

std::vector<ControlVectorArrayPtr, Eigen::aligned_allocator<ControlVectorArrayPtr> >* ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >::uSubstep_

protected

Referenced by ct::core::SensitivityIntegrator< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getAandB().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/integration/sensitivity/Sensitivity.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Member Typedef Documentation

◆ ControlVectorArrayPtr

Constructor & Destructor Documentation

◆ Sensitivity()

◆ ~Sensitivity()

Member Function Documentation

◆ clone()

◆ setLinearSystem()

◆ setTimeDiscretization()

◆ setApproximation()

◆ setSubstepTrajectoryReference()

◆ getAandB()

Member Data Documentation

◆ StateVectorArrayPtr

◆ xSubstep_

◆ uSubstep_