class for a general switched discrete linear system or linearized discrete system More...

#include <SwitchedDiscreteLinearSystem.h>

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

Public Types
typedef Switched< LinearSystemPtr >	SwitchedLinearSystems

typedef DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >	Base

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::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
	SwitchedDiscreteLinearSystem (const SwitchedLinearSystems &switchedLinearSystems, const DiscreteModeSequence &discreteModeSequence, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	default constructor More...

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

virtual	~SwitchedDiscreteLinearSystem ()
	destructor More...

virtual SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override
	deep cloning 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) override
	retrieve discrete-time linear system matrices A and B for mode i, active at time n. More...

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...

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< DiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	LinearSystemPtr

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
SwitchedLinearSystems	switchedLinearSystems_
	Switched linear 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::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >

class for a general switched discrete linear system or linearized discrete system

Defines the interface for a switched discrete linear system

Template Parameters

STATE_DIM	size of state vector
CONTROL_DIM	size of input vector

Member Typedef Documentation

◆ SwitchedLinearSystems

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

typedef Switched<LinearSystemPtr> ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedLinearSystems

◆ Base

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

typedef DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::SwitchedDiscreteLinearSystem< 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::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::time_t

◆ state_vector_t

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

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

◆ state_matrix_t

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

typedef StateMatrix<STATE_DIM, SCALAR> ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

state Jacobian type

◆ state_control_matrix_t

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

typedef StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::state_control_matrix_t

input Jacobian type

Constructor & Destructor Documentation

◆ SwitchedDiscreteLinearSystem() [1/2]

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

ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::SwitchedDiscreteLinearSystem	(	const SwitchedLinearSystems &	switchedLinearSystems,
		const DiscreteModeSequence &	discreteModeSequence,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

default constructor

Parameters

type	system type

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

◆ SwitchedDiscreteLinearSystem() [2/2]

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

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

inline

copy constructor

References ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedLinearSystems_.

◆ ~SwitchedDiscreteLinearSystem()

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

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

inlinevirtual

destructor

Member Function Documentation

◆ clone()

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

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

inlineoverridevirtual

deep cloning

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

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

◆ propagateControlledDynamics()

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

virtual void ct::core::SwitchedDiscreteLinearSystem< 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

compute the system dynamics

This computes the system dynamics

$x_{n+1} = A_{i}x_n + B_{i}u_n$

Parameters

state	current state
n	current time index
control	control input
stateNext	propagated state

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

References ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::discreteModeSequence_, ct::core::PhaseSequence< Phase, Time >::getPhaseFromTime(), and ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedLinearSystems_.

◆ getAandB()

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

virtual void ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::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
	)

inlineoverridevirtual

retrieve discrete-time linear system matrices A and B for mode i, active at time n.

This computes matrices A and B such that

$x_{n+1} = A_{i}x_n + B_{i}u_n$

Note that the inputs x_next and subSteps are potentially being ignored for 'true' discrete system models but are relevant for sensitivity calculations if the underlying system is continuous.

Parameters

x	the state setpoint at n
u	the control setpoint at n
n	the time setpoint
x_next	the state at n+1
subSteps	number of substeps to use in sensitivity calculation
A	the resulting linear system matrix A
B	the resulting linear system matrix B

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

References ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::discreteModeSequence_, ct::core::PhaseSequence< Phase, Time >::getPhaseFromTime(), and ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedLinearSystems_.

Referenced by TEST().

Member Data Documentation

◆ LinearSystemPtr

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::shared_ptr<DiscreteLinearSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::LinearSystemPtr

Referenced by TEST().

◆ switchedLinearSystems_

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

SwitchedLinearSystems ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::switchedLinearSystems_

protected

Switched linear system container.

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

◆ discreteModeSequence_

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

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

protected

the prespecified mode sequence

Referenced by ct::core::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >::getAandB(), and ct::core::SwitchedDiscreteLinearSystem< 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/linear/SwitchedDiscreteLinearSystem.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::SwitchedDiscreteLinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ SwitchedLinearSystems

◆ Base

◆ time_t

◆ state_vector_t

◆ control_vector_t

◆ state_matrix_t

◆ state_control_matrix_t

Constructor & Destructor Documentation

◆ SwitchedDiscreteLinearSystem() [1/2]

◆ SwitchedDiscreteLinearSystem() [2/2]

◆ ~SwitchedDiscreteLinearSystem()

Member Function Documentation

◆ clone()

◆ propagateControlledDynamics()

◆ getAandB()

Member Data Documentation

◆ LinearSystemPtr

◆ switchedLinearSystems_

◆ discreteModeSequence_

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