A general, switched non-linear dynamic system with a control input. More...

#include <SwitchedControlledSystem.h>

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

Public Types
typedef std::shared_ptr< ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	SystemPtr

typedef Switched< SystemPtr >	SwitchedSystems

typedef System< STATE_DIM, SCALAR >	Base

typedef Base::time_t	time_t

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
	SwitchedControlledSystem (const SwitchedSystems &switchedSystems, const ContinuousModeSequence &continuousModeSequence, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

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

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

virtual	~SwitchedControlledSystem ()
	destructor More...

virtual SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override
	deep copy 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) override

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 std::shared_ptr< SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	Ptr

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...

Protected Attributes
SwitchedSystems	switchedSystems_
	switched system container More...

ContinuousModeSequence	continuousModeSequence_
	the prespecified mode sequence More...

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::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >

A general, switched non-linear dynamic system with a control input.

This describes a general, switched non-linear dynamic system described by an Ordinary Differential Equation (ODE) of the following form

$\dot{x} = f_{i}(x,u,t)$

where $ x(t) $ is the state, $ u(t) $ the control input and $ t $ the time. $f_{i}$ refers to the dynamics in a specific mode. Modes are prespecified as a function of time.

For implementing your own SwitchedControlledSystem, provide a vector of controlled systems and a prespecified mode sequence.

We generally assume that the Controller is a state and time dependent function $ u = g(x,t) $ which allows any ControlledSystem to be re-written as a System of the form

$\dot{x} = f(x(t),u(x,t),t) = g(x,t)$

which can be forward propagated in time with an Integrator.

Template Parameters

STATE_DIM	dimension of state vector
CONTROL_DIM	dimension of input vector
SCALAR	scalar type

Member Typedef Documentation

◆ SystemPtr

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

typedef std::shared_ptr<ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SystemPtr

◆ SwitchedSystems

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

typedef Switched<SystemPtr> ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedSystems

◆ Base

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

typedef System<STATE_DIM, SCALAR> ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Base

◆ time_t

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

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

Constructor & Destructor Documentation

◆ SwitchedControlledSystem() [1/3]

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

ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedControlledSystem	(	const SwitchedSystems &	switchedSystems,
		const ContinuousModeSequence &	continuousModeSequence,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

default constructor

Parameters

type	system type

Referenced by ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::clone().

◆ SwitchedControlledSystem() [2/3]

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

ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedControlledSystem	(	const SwitchedSystems &	switchedSystems,
		const ContinuousModeSequence &	continuousModeSequence,
		std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >>	controller,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

constructor

Parameters

controller	controller
type	system type

◆ SwitchedControlledSystem() [3/3]

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

ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedControlledSystem ( const SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > & arg )

inline

copy constructor

References ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedSystems_.

◆ ~SwitchedControlledSystem()

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

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

inlinevirtual

destructor

Member Function Documentation

◆ clone()

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

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

inlineoverridevirtual

deep copy

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

References ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedControlledSystem().

◆ computeControlledDynamics()

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

virtual void ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics	(	const StateVector< STATE_DIM, SCALAR > &	state,
		const time_t &	t,
		const ControlVector< CONTROL_DIM, SCALAR > &	control,
		StateVector< STATE_DIM, SCALAR > &	derivative
	)

inlineoverridevirtual

References ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::continuousModeSequence_, ct::core::PhaseSequence< Phase, Time >::getPhaseFromTime(), and ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedSystems_.

Member Data Documentation

◆ Ptr

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr<SwitchedControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Ptr

◆ switchedSystems_

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

SwitchedSystems ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedSystems_

protected

switched system container

Referenced by ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics(), and ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedControlledSystem().

◆ continuousModeSequence_

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

ContinuousModeSequence ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::continuousModeSequence_

protected

the prespecified mode sequence

Referenced by ct::core::SwitchedControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics().

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/SwitchedControlledSystem.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ SystemPtr

◆ SwitchedSystems

◆ Base

◆ time_t

Constructor & Destructor Documentation

◆ SwitchedControlledSystem() [1/3]

◆ SwitchedControlledSystem() [2/3]

◆ SwitchedControlledSystem() [3/3]

◆ ~SwitchedControlledSystem()

Member Function Documentation

◆ clone()

◆ computeControlledDynamics()

Member Data Documentation

◆ Ptr

◆ switchedSystems_

◆ continuousModeSequence_

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