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

#include <SensitivityApproximation.h>

Inheritance diagram for ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >:

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

Public Types inherited from ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >
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
	SensitivityApproximation (const SCALAR &dt, const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &linearSystem=nullptr, const SensitivityApproximationSettings::APPROXIMATION &approx=SensitivityApproximationSettings::APPROXIMATION::FORWARD_EULER)
	constructor More...

	SensitivityApproximation (const SensitivityApproximationSettings &settings, const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &linearSystem=nullptr)
	constructor More...

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

virtual	~SensitivityApproximation ()
	destructor More...

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

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

SensitivityApproximationSettings::APPROXIMATION	getApproximation () const
	retrieve the approximation type for the discrete-time system More...

virtual void	setLinearSystem (const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &linearSystem) override
	update the linear system More...

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

void	updateSettings (const SensitivityApproximationSettings &settings)
	update the settings More...

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, const size_t numSteps, state_matrix_t &A, state_control_matrix_t &B) override
	get A and B matrix for linear time invariant system More...

Public Member Functions inherited from ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >
	Sensitivity ()

virtual	~Sensitivity ()

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

Public Attributes inherited from ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >
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

Additional Inherited Members
Protected Attributes inherited from ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >
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...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>
class ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_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

◆ state_control_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

typedef StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::state_control_matrix_t

input Jacobian type

Constructor & Destructor Documentation

◆ SensitivityApproximation() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SensitivityApproximation	(	const SCALAR &	dt,
		const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &	linearSystem = `nullptr`,
		const SensitivityApproximationSettings::APPROXIMATION &	approx = `SensitivityApproximationSettings::APPROXIMATION::FORWARD_EULER`
	)

inline

constructor

◆ SensitivityApproximation() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SensitivityApproximation	(	const SensitivityApproximationSettings &	settings,
		const std::shared_ptr< LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >> &	linearSystem = `nullptr`
	)

inline

constructor

◆ SensitivityApproximation() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SensitivityApproximation ( const SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR > & other )

inline

copy constructor

◆ ~SensitivityApproximation()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

virtual ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::~SensitivityApproximation ( )

inlinevirtual

destructor

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

virtual SensitivityApproximation<STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR>* ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::clone ( ) const

inlineoverridevirtual

deep cloning

Reimplemented from ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ setApproximation()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

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

inlineoverridevirtual

update the approximation type for the discrete-time system

Reimplemented from ct::core::Sensitivity< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::core::SensitivityApproximationSettings::approximation_.

◆ getApproximation()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

SensitivityApproximationSettings::APPROXIMATION ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getApproximation ( ) const

inline

retrieve the approximation type for the discrete-time system

References ct::core::SensitivityApproximationSettings::approximation_.

◆ setLinearSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

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

inlineoverridevirtual

update the linear system

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

◆ setTimeDiscretization()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

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

inlineoverridevirtual

update the time discretization

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

References ct::core::SensitivityApproximationSettings::dt_.

◆ updateSettings()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

void ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::updateSettings ( const SensitivityApproximationSettings & settings )

inline

update the settings

◆ getAandB()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

virtual void ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_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,
		const size_t	numSteps,
		state_matrix_t &	A,
		state_control_matrix_t &	B
	)

inlineoverridevirtual

get A and B matrix for linear time invariant system

compute 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

for an LTI system A and B won't change with time n, hence the linearizations result from the following LTV special case.

the Tustin (also known as 'Heun') approximation uses the state and control at the start and at the end of the ZOH interval to generate linear approximations A and B in a trapezoidal fashion.

continuous-time A and B matrices

tustin approximation

References ct::core::SensitivityApproximationSettings::approximation_, ct::core::SensitivityApproximationSettings::BACKWARD_EULER, dt, ct::core::SensitivityApproximationSettings::dt_, ct::core::SensitivityApproximationSettings::FORWARD_EULER, ct::core::SensitivityApproximationSettings::MATRIX_EXPONENTIAL, n, SYMPLECTIC_DISABLED, SYMPLECTIC_ENABLED, ct::core::SensitivityApproximationSettings::SYMPLECTIC_EULER, ct::core::SensitivityApproximationSettings::TUSTIN, u, and x.

Member Data Documentation

◆ state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef StateMatrix<STATE_DIM, SCALAR> ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::state_matrix_t

state Jacobian type

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/SensitivityApproximation.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double> class ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >

Member Typedef Documentation

◆ state_control_matrix_t

Constructor & Destructor Documentation

◆ SensitivityApproximation() [1/3]

◆ SensitivityApproximation() [2/3]

◆ SensitivityApproximation() [3/3]

◆ ~SensitivityApproximation()

Member Function Documentation

◆ clone()

◆ setApproximation()

◆ getApproximation()

◆ setLinearSystem()

◆ setTimeDiscretization()

◆ updateSettings()

◆ getAandB()

Member Data Documentation

◆ state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM = STATE_DIM / 2, size_t V_DIM = STATE_DIM / 2, typename SCALAR = double>
class ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >