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

#include <SwitchedDiscreteControlledSystem.h>

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

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

typedef Switched< SystemPtr >	SwitchedSystems

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::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
	SwitchedDiscreteControlledSystem (const SwitchedSystems &switchedSystems, const DiscreteModeSequence &discreteModeSequence, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

	SwitchedDiscreteControlledSystem (const SwitchedSystems &switchedSystems, const DiscreteModeSequence &discreteModeSequence, std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	constructor More...

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

virtual	~SwitchedDiscreteControlledSystem ()
	destructor More...

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

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

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< SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	Ptr

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
SwitchedSystems	switchedSystems_
	switched system container More...

DiscreteModeSequence	discreteModeSequence_
	the prespecified mode sequence More...

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, typename SCALAR = double>
class ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >

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

This describes a general, switched non-linear discrete dynamic system of the following form

$x_{n+1} = f_{i}(x_n,u_n,n)$

where $x_{n}$ is the state, $u_{n}$ the control input and $ n $ the time index. $f_{i}$ refers to the dynamics in a specific mode. Modes are prespecified as a function of time.

For implementing your own SwitchedDiscreteControlledSystem, provide a vector of Discrete systems and a prespecified mode sequence.

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

$x_{n+1} = f(x_n,u_n(x_n,n),n) = g(x_n,n)$

which can be forward propagated directly.

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<DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SystemPtr

◆ SwitchedSystems

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

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

◆ Base

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

typedef DiscreteSystem<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Base

◆ state_vector_t

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

typedef Base::state_vector_t ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

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

typedef Base::control_vector_t ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ time_t

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

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

Constructor & Destructor Documentation

◆ SwitchedDiscreteControlledSystem() [1/3]

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

ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedDiscreteControlledSystem	(	const SwitchedSystems &	switchedSystems,
		const DiscreteModeSequence &	discreteModeSequence,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

default constructor

Parameters

type	system type

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

◆ SwitchedDiscreteControlledSystem() [2/3]

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

ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedDiscreteControlledSystem	(	const SwitchedSystems &	switchedSystems,
		const DiscreteModeSequence &	discreteModeSequence,
		std::shared_ptr< DiscreteController< STATE_DIM, CONTROL_DIM, SCALAR >>	controller,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

constructor

Parameters

controller	controller
type	system type

◆ SwitchedDiscreteControlledSystem() [3/3]

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

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

inline

copy constructor

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

◆ ~SwitchedDiscreteControlledSystem()

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

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

inlinevirtual

destructor

Member Function Documentation

◆ clone()

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

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

inlineoverridevirtual

deep copy

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

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

◆ propagateControlledDynamics()

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

virtual void ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateControlledDynamics	(	const state_vector_t &	state,
		const time_t	n,
		const control_vector_t &	control,
		state_vector_t &	stateNext
	)

inlineoverridevirtual

propagates the controlled system dynamics forward by one step

evaluates $x_{n+1} = f(x_n, u_n, n)$ at a given state, control, index, and mode

Parameters

state	start state to propagate from
control	the control input to apply. This is a constant control input applied to the continuous-time dynamics
n	time index to propagate the dynamics at
stateNext	the resulting propagated state

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

References ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::discreteModeSequence_, ct::core::PhaseSequence< Phase, Time >::getPhaseFromTime(), and ct::core::SwitchedDiscreteControlledSystem< 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<SwitchedDiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Ptr

◆ switchedSystems_

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

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

protected

switched system container

Referenced by ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateControlledDynamics(), and ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedDiscreteControlledSystem().

◆ discreteModeSequence_

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

DiscreteModeSequence ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::discreteModeSequence_

protected

the prespecified mode sequence

Referenced by ct::core::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >::propagateControlledDynamics().

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/discrete_time/SwitchedDiscreteControlledSystem.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::SwitchedDiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ SystemPtr

◆ SwitchedSystems

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ time_t

Constructor & Destructor Documentation

◆ SwitchedDiscreteControlledSystem() [1/3]

◆ SwitchedDiscreteControlledSystem() [2/3]

◆ SwitchedDiscreteControlledSystem() [3/3]

◆ ~SwitchedDiscreteControlledSystem()

Member Function Documentation

◆ clone()

◆ propagateControlledDynamics()

Member Data Documentation

◆ Ptr

◆ switchedSystems_

◆ discreteModeSequence_

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