The base class for the implementation of a symplectic system. In a symplectic system, the position and the velocity update can be separated. During integration, the velocity gets update first and the position update uses the updated velocity. More...

#include <SymplecticSystem.h>

Inheritance diagram for ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef Base::time_t	time_t

Public Types inherited from ct::core::ControlledSystem< POS_DIM+VEL_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
	SymplecticSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	Constructor. More...

	SymplecticSystem (std::shared_ptr< ct::core::Controller< POS_DIM+VEL_DIM, CONTROL_DIM, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	Constructor. More...

	SymplecticSystem (const SymplecticSystem &arg)
	Copy constructor. More...

virtual	~SymplecticSystem ()
	Destructor. More...

virtual SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR > *	clone () const override=0
	Creates a new instance of the object with same properties than original. More...

virtual bool	isSymplectic () const override
	Determines if the system is in symplectic form. More...

virtual void	computeControlledDynamics (const StateVector< POS_DIM+VEL_DIM, SCALAR > &state, const time_t &t, const ControlVector< CONTROL_DIM, SCALAR > &control, StateVector< POS_DIM+VEL_DIM, SCALAR > &derivative) override

void	computePdot (const StateVector< POS_DIM+VEL_DIM, SCALAR > &x, const StateVector< VEL_DIM, SCALAR > &v, StateVector< POS_DIM, SCALAR > &pDot)
	Computes the derivative of the position. More...

void	computeVdot (const StateVector< POS_DIM+VEL_DIM, SCALAR > &x, const StateVector< POS_DIM, SCALAR > &p, StateVector< VEL_DIM, SCALAR > &vDot)
	Computes the derivative of the velocity. More...

virtual void	computePdot (const StateVector< POS_DIM+VEL_DIM, SCALAR > &x, const StateVector< VEL_DIM, SCALAR > &v, const ControlVector< CONTROL_DIM, SCALAR > &control, StateVector< POS_DIM, SCALAR > &pDot)=0
	Computes the derivative of the position. More...

virtual void	computeVdot (const StateVector< POS_DIM+VEL_DIM, SCALAR > &x, const StateVector< POS_DIM, SCALAR > &p, const ControlVector< CONTROL_DIM, SCALAR > &control, StateVector< VEL_DIM, SCALAR > &vDot)=0
	Computes the derivative of the velocity. More...

Public Member Functions inherited from ct::core::ControlledSystem< POS_DIM+VEL_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...

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< POS_DIM+VEL_DIM, CONTROL_DIM, SCALAR >	Base

Public Attributes inherited from ct::core::ControlledSystem< POS_DIM+VEL_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...

Additional Inherited Members
Protected Attributes inherited from ct::core::ControlledSystem< POS_DIM+VEL_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 POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >

The base class for the implementation of a symplectic system. In a symplectic system, the position and the velocity update can be separated. During integration, the velocity gets update first and the position update uses the updated velocity.

Template Parameters

POS_DIM	The position dimension
VEL_DIM	The velocity dimension
CONTROL_DIM	The control dimension
SCALAR	The scalar type

Member Typedef Documentation

◆ time_t

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Base::time_t ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::time_t

Constructor & Destructor Documentation

◆ SymplecticSystem() [1/3]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::SymplecticSystem ( const SYSTEM_TYPE & type = SYSTEM_TYPE::GENERAL )

inline

Constructor.

Parameters

[in] type The type of the system

◆ SymplecticSystem() [2/3]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::SymplecticSystem	(	std::shared_ptr< ct::core::Controller< POS_DIM+VEL_DIM, CONTROL_DIM, SCALAR >>	controller,
		const SYSTEM_TYPE &	type = `SYSTEM_TYPE::GENERAL`
	)

inline

Constructor.

Parameters

[in]	controller	The controller used when integrating the system
[in]	type	The type of the system

◆ SymplecticSystem() [3/3]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::SymplecticSystem ( const SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR > & arg )

inline

Copy constructor.

Parameters

[in] arg The argument

◆ ~SymplecticSystem()

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::~SymplecticSystem ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ clone()

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual SymplecticSystem<POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR>* ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

overridepure virtual

Creates a new instance of the object with same properties than original.

Returns: Copy of this object.

Implements ct::core::ControlledSystem< POS_DIM+VEL_DIM, CONTROL_DIM, SCALAR >.

Implemented in ct::core::tpl::TestSymplecticSystem< SCALAR >.

Referenced by ct::core::SymplecticSystem< 1, 1, 1, SCALAR >::~SymplecticSystem().

◆ isSymplectic()

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual bool ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::isSymplectic ( ) const

inlineoverridevirtual

Determines if the system is in symplectic form.

Returns: True if symplectic, False otherwise.

Reimplemented from ct::core::System< STATE_DIM, SCALAR >.

◆ computeControlledDynamics()

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual void ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics	(	const StateVector< POS_DIM+VEL_DIM, SCALAR > &	state,
		const time_t &	t,
		const ControlVector< CONTROL_DIM, SCALAR > &	control,
		StateVector< POS_DIM+VEL_DIM, SCALAR > &	derivative
	)

inlineoverridevirtual

◆ computePdot() [1/2]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

void ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::computePdot	(	const StateVector< POS_DIM+VEL_DIM, SCALAR > &	x,
		const StateVector< VEL_DIM, SCALAR > &	v,
		StateVector< POS_DIM, SCALAR > &	pDot
	)

inline

Computes the derivative of the position.

Parameters

[in]	x	The full state vector
[in]	v	The updated velocity
[out]	pDot	The derivative of the position

Referenced by ct::core::SymplecticSystem< 1, 1, 1, SCALAR >::computeControlledDynamics(), ct::core::SymplecticSystem< 1, 1, 1, SCALAR >::computePdot(), and ct::core::SymplecticSystem< 1, 1, 1, SCALAR >::computeVdot().

◆ computeVdot() [1/2]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

void ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::computeVdot	(	const StateVector< POS_DIM+VEL_DIM, SCALAR > &	x,
		const StateVector< POS_DIM, SCALAR > &	p,
		StateVector< VEL_DIM, SCALAR > &	vDot
	)

inline

Computes the derivative of the velocity.

Parameters

[in]	x	The full state vector
[in]	p	The position
[out]	vDot	The derivative of the velocity

Referenced by ct::core::SymplecticSystem< 1, 1, 1, SCALAR >::computeControlledDynamics(), and ct::core::SymplecticSystem< 1, 1, 1, SCALAR >::computeVdot().

◆ computePdot() [2/2]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual void ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::computePdot	(	const StateVector< POS_DIM+VEL_DIM, SCALAR > &	x,
		const StateVector< VEL_DIM, SCALAR > &	v,
		const ControlVector< CONTROL_DIM, SCALAR > &	control,
		StateVector< POS_DIM, SCALAR > &	pDot
	)

pure virtual

Computes the derivative of the position.

Parameters

[in]	x	The full state vector
[in]	v	The updated velocity
[in]	control	The control input
[out]	pDot	The derivative of the position

Implemented in ct::core::tpl::TestSymplecticSystem< SCALAR >.

◆ computeVdot() [2/2]

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual void ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::computeVdot	(	const StateVector< POS_DIM+VEL_DIM, SCALAR > &	x,
		const StateVector< POS_DIM, SCALAR > &	p,
		const ControlVector< CONTROL_DIM, SCALAR > &	control,
		StateVector< VEL_DIM, SCALAR > &	vDot
	)

pure virtual

Computes the derivative of the velocity.

Parameters

[in]	x	The full state vector
[in]	p	The position
[in]	control	The control input
[out]	vDot	The derivative of the velocity

Implemented in ct::core::tpl::TestSymplecticSystem< SCALAR >.

Member Data Documentation

◆ Base

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem<POS_DIM + VEL_DIM, CONTROL_DIM, SCALAR> ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >::Base

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/SymplecticSystem.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ time_t

Constructor & Destructor Documentation

◆ SymplecticSystem() [1/3]

◆ SymplecticSystem() [2/3]

◆ SymplecticSystem() [3/3]

◆ ~SymplecticSystem()

Member Function Documentation

◆ clone()

◆ isSymplectic()

◆ computeControlledDynamics()

◆ computePdot() [1/2]

◆ computeVdot() [1/2]

◆ computePdot() [2/2]

◆ computeVdot() [2/2]

Member Data Documentation

◆ Base

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::core::SymplecticSystem< POS_DIM, VEL_DIM, CONTROL_DIM, SCALAR >