Discretize a general, continuous-time non-linear dynamic system using forward integration. More...

#include <SystemDiscretizer.h>

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

Public Types
typedef DiscreteControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >	Base

typedef Base::time_t	time_t

using	IntegratorPtr = std::shared_ptr< Integrator< STATE_DIM, SCALAR > >

using	IntegratorSymplecticEulerPtr = std::shared_ptr< ct::core::IntegratorSymplecticEuler< P_DIM, V_DIM, CONTROL_DIM, SCALAR > >

using	IntegratorSymplecticRkPtr = std::shared_ptr< ct::core::IntegratorSymplecticRk< P_DIM, V_DIM, CONTROL_DIM, SCALAR > >

using	ContinuousSystemPtr = std::shared_ptr< ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >

using	ContinuousConstantControllerPtr = std::shared_ptr< ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > >

using	SubstepRecorderPtr = std::shared_ptr< ct::core::SubstepRecorder< STATE_DIM, CONTROL_DIM, SCALAR > >

using	StateVectorArray = ct::core::StateVectorArray< STATE_DIM, SCALAR >

using	StateVectorArrayPtr = std::shared_ptr< StateVectorArray >

using	ControlVectorArray = ct::core::ControlVectorArray< CONTROL_DIM, SCALAR >

using	ControlVectorArrayPtr = std::shared_ptr< ControlVectorArray >

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
	SystemDiscretizer ()
	default constructor More...

	SystemDiscretizer (const SCALAR &dt, const ct::core::IntegrationType &integratorType=ct::core::IntegrationType::RK4, const int &K_sim=1)
	constructor with parameters More...

	SystemDiscretizer (ContinuousSystemPtr system, const SCALAR &dt, const ct::core::IntegrationType &integratorType=ct::core::IntegrationType::RK4, const int &K_sim=1)
	constructor with parameters and nonlinear continuous-time system More...

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

virtual	~SystemDiscretizer ()
	destructor More...

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

void	initialize ()
	initialize class More...

void	setIntegrationType (const ct::core::IntegrationType &integratorType)
	update integration type More...

void	setParameters (const SCALAR &dt, const int &K_sim=1)
	update parameters More...

void	changeContinuousTimeSystem (ContinuousSystemPtr newSystem)
	update the SystemDiscretizer with a new nonlinear, continuous-time system More...

virtual void	propagateControlledDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t n, const ControlVector< CONTROL_DIM, SCALAR > &control, StateVector< STATE_DIM, SCALAR > &stateNext) override
	propagate discrete-time dynamics by performing a numerical forward integration of the continuous-time system More...

const StateVectorArrayPtr &	getSubstates () const
	return a pointer to the substates recorded during integration More...

const ControlVectorArrayPtr &	getSubcontrols () const
	reuturn a pointer to the subcontrols recorded during integration 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...

virtual void	propagateControlledDynamics (const state_vector_t &state, const time_t n, const control_vector_t &control, state_vector_t &stateNext)=0
	propagates the controlled 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...

Protected Member Functions
SYMPLECTIC_ENABLED	initializeSymplecticIntegrator ()
	initialize the symplectic integrator, if the system is symplectic More...

SYMPLECTIC_DISABLED	initializeSymplecticIntegrator ()
	a dummy method, instantiated if the system is not symplectic More...

SYMPLECTIC_ENABLED	integrateSymplectic (ct::core::StateVector< STATE_DIM, SCALAR > &x0, const double &t, const size_t &steps, const double &dt_sim) const
	integrateSymplectic, gets instantiated if the system is symplectic More...

SYMPLECTIC_DISABLED	integrateSymplectic (ct::core::StateVector< STATE_DIM, SCALAR > &x0, const double &t, const size_t &steps, const double &dt_sim) const
	a dummy method, instantiated if the system is not symplectic More...

SCALAR	getSimulationTimestep ()
	compute the simulation timestep More...

Protected Attributes
SCALAR	dt_
	the time discretization interval More...

int	K_sim_
	the forward simulation can be discretized finer than dt_. K_sim_ is an integer number representing the number of simulation sub-steps. More...

SCALAR	dt_sim_
	the integration sub-step size, which is a function of dt_ and K_sim_ More...

ct::core::IntegrationType	integratorType_
	the integration type for forward integration More...

ContinuousSystemPtr	cont_time_system_
	the continuous-time system to be discretized More...

ContinuousConstantControllerPtr	cont_constant_controller_
	the continuous-time constant controller to be applied to the continuous-time dynamics More...

IntegratorPtr	integrator_
	an integrator for forward integrating a general continuous-time system with standard RK methods More...

IntegratorSymplecticEulerPtr	integratorEulerSymplectic_
	an integrator for forward integrating a symplectic continuous-time system with symplectic Euler More...

IntegratorSymplecticRkPtr	integratorRkSymplectic_
	an integrator for forward integrating a symplectic continuous-time system with symplectic RK methods More...

SubstepRecorderPtr	substepRecorder_
	substep recorder which logs all the substeps required for later computing exact sensitivities 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...

Additional Inherited Members
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

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::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >

Discretize a general, continuous-time non-linear dynamic system using forward integration.

The SystemDiscretizer transforms a continuous-time system into a discrete-time system by forward integration. Please not that it does not perform a global transformation to discrete-time (it cannot compute transition matrices or similar), but rather 'mimicks' a discrete system, based on the underlying continuous-time system. In every call to propagateControlledDynamics(), the continuous-time system is forward integrated by a time interval dt_. Furthermore, the substeps during integration are recorded during each propagate-call, and can be retrieved using getSubstates() and getSubcontrols().

Warning: no substeps can be recorded for higher order RK symplectic integrators.

Member Typedef Documentation

◆ Base

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 DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::Base

◆ time_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 Base::time_t ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::time_t

◆ IntegratorPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::IntegratorPtr = std::shared_ptr<Integrator<STATE_DIM, SCALAR> >

◆ IntegratorSymplecticEulerPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::IntegratorSymplecticEulerPtr = std::shared_ptr<ct::core::IntegratorSymplecticEuler<P_DIM, V_DIM, CONTROL_DIM, SCALAR> >

◆ IntegratorSymplecticRkPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::IntegratorSymplecticRkPtr = std::shared_ptr<ct::core::IntegratorSymplecticRk<P_DIM, V_DIM, CONTROL_DIM, SCALAR> >

◆ ContinuousSystemPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::ContinuousSystemPtr = std::shared_ptr<ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> >

◆ ContinuousConstantControllerPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::ContinuousConstantControllerPtr = std::shared_ptr<ConstantController<STATE_DIM, CONTROL_DIM, SCALAR> >

◆ SubstepRecorderPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SubstepRecorderPtr = std::shared_ptr<ct::core::SubstepRecorder<STATE_DIM, CONTROL_DIM, SCALAR> >

◆ StateVectorArray

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::StateVectorArray = ct::core::StateVectorArray<STATE_DIM, SCALAR>

◆ StateVectorArrayPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::StateVectorArrayPtr = std::shared_ptr<StateVectorArray>

◆ ControlVectorArray

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::ControlVectorArray = ct::core::ControlVectorArray<CONTROL_DIM, SCALAR>

◆ ControlVectorArrayPtr

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>

using ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::ControlVectorArrayPtr = std::shared_ptr<ControlVectorArray>

Constructor & Destructor Documentation

◆ SystemDiscretizer() [1/4]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer ( )

default constructor

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::clone().

◆ SystemDiscretizer() [2/4]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer	(	const SCALAR &	dt,
		const ct::core::IntegrationType &	integratorType = `ct::core::IntegrationType::RK4`,
		const int &	K_sim = `1`
	)

constructor with parameters

Parameters

dt	the discretization time interval
integratorType	the integratorType for numerical forward integration
K_sim	the number of sub-integration intervals

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_sim_, and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSimulationTimestep().

◆ SystemDiscretizer() [3/4]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer	(	ContinuousSystemPtr	system,
		const SCALAR &	dt,
		const ct::core::IntegrationType &	integratorType = `ct::core::IntegrationType::RK4`,
		const int &	K_sim = `1`
	)

constructor with parameters and nonlinear continuous-time system

Parameters

system	The continuous-time system to be discretized
dt	the discretization time interval
integratorType	the integratorType for numerical forward integration
K_sim	the number of sub-integration intervals

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeContinuousTimeSystem(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_sim_, and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSimulationTimestep().

◆ SystemDiscretizer() [4/4]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer ( const SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR > & arg )

copy constructor

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeContinuousTimeSystem(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_time_system_.

◆ ~SystemDiscretizer()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

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

virtual

destructor

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

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

overridevirtual

deep cloning

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

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer().

◆ initialize()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

void ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize ( )

initialize class

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_time_system_, ct::core::EULER_SYM, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrator_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorType_, ct::core::RK_SYM, and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::substepRecorder_.

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeContinuousTimeSystem().

◆ setIntegrationType()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

void ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setIntegrationType ( const ct::core::IntegrationType & integratorType )

update integration type

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorType_.

◆ setParameters()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

void ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setParameters	(	const SCALAR &	dt,
		const int &	K_sim = `1`
	)

update parameters

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_sim_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSimulationTimestep(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::K_sim_.

◆ changeContinuousTimeSystem()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

void ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeContinuousTimeSystem ( ContinuousSystemPtr newSystem )

update the SystemDiscretizer with a new nonlinear, continuous-time system

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_constant_controller_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_time_system_, and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize().

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer().

◆ propagateControlledDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

void ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics	(	const StateVector< STATE_DIM, SCALAR > &	state,
		const time_t	n,
		const ControlVector< CONTROL_DIM, SCALAR > &	control,
		StateVector< STATE_DIM, SCALAR > &	stateNext
	)

overridevirtual

propagate discrete-time dynamics by performing a numerical forward integration of the continuous-time system

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, to be translated into a continuous time value t
stateNext	the resulting propagated state

Warning: calling this method resets the substep-recorder. The substeps are only available for a single call to propagateControlledDynamics()

Referenced by TEST().

◆ getSubstates()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

const std::shared_ptr< ct::core::StateVectorArray< STATE_DIM, SCALAR > > & ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubstates ( ) const

return a pointer to the substates recorded during integration

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::substepRecorder_.

◆ getSubcontrols()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

const std::shared_ptr< ct::core::ControlVectorArray< CONTROL_DIM, SCALAR > > & ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubcontrols ( ) const

reuturn a pointer to the subcontrols recorded during integration

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::substepRecorder_.

◆ initializeSymplecticIntegrator() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

SYMPLECTIC_DISABLED ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initializeSymplecticIntegrator ( )

protected

initialize the symplectic integrator, if the system is symplectic

it only makes sense to compile the following code, if V_DIM > 0 and P_DIM > 0 initialize symplectic Euler integrator

initialize RK symplectic integrator

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_time_system_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorEulerSymplectic_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorRkSymplectic_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::substepRecorder_, and SYMPLECTIC_DISABLED.

◆ initializeSymplecticIntegrator() [2/2]

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>

SYMPLECTIC_DISABLED ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initializeSymplecticIntegrator ( )

protected

a dummy method, instantiated if the system is not symplectic

◆ integrateSymplectic() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

SYMPLECTIC_DISABLED ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrateSymplectic	(	ct::core::StateVector< STATE_DIM, SCALAR > &	x0,
		const double &	t,
		const size_t &	steps,
		const double &	dt_sim
	)		const

protected

integrateSymplectic, gets instantiated if the system is symplectic

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_time_system_, ct::core::EULER_SYM, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorEulerSymplectic_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorRkSymplectic_, ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorType_, ct::core::RK_SYM, SYMPLECTIC_DISABLED, t, and x0.

◆ integrateSymplectic() [2/2]

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>

SYMPLECTIC_DISABLED ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrateSymplectic	(	ct::core::StateVector< STATE_DIM, SCALAR > &	x0,
		const double &	t,
		const size_t &	steps,
		const double &	dt_sim
	)		const

protected

a dummy method, instantiated if the system is not symplectic

◆ getSimulationTimestep()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t P_DIM, size_t V_DIM, typename SCALAR >

SCALAR ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSimulationTimestep ( )

protected

compute the simulation timestep

References ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_, and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::K_sim_.

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setParameters(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer().

Member Data Documentation

◆ dt_

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>

SCALAR ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_

protected

the time discretization interval

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSimulationTimestep(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setParameters().

◆ K_sim_

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>

int ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::K_sim_

protected

the forward simulation can be discretized finer than dt_. K_sim_ is an integer number representing the number of simulation sub-steps.

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSimulationTimestep(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setParameters().

◆ dt_sim_

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>

SCALAR ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::dt_sim_

protected

the integration sub-step size, which is a function of dt_ and K_sim_

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setParameters(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer().

◆ integratorType_

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::IntegrationType ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorType_

protected

the integration type for forward integration

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrateSymplectic(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::setIntegrationType().

◆ cont_time_system_

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>

ContinuousSystemPtr ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_time_system_

protected

the continuous-time system to be discretized

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeContinuousTimeSystem(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initializeSymplecticIntegrator(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrateSymplectic(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::SystemDiscretizer().

◆ cont_constant_controller_

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>

ContinuousConstantControllerPtr ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::cont_constant_controller_

protected

the continuous-time constant controller to be applied to the continuous-time dynamics

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::changeContinuousTimeSystem(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics().

◆ integrator_

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>

IntegratorPtr ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrator_

protected

an integrator for forward integrating a general continuous-time system with standard RK methods

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics().

◆ integratorEulerSymplectic_

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>

IntegratorSymplecticEulerPtr ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorEulerSymplectic_

protected

an integrator for forward integrating a symplectic continuous-time system with symplectic Euler

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initializeSymplecticIntegrator(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrateSymplectic().

◆ integratorRkSymplectic_

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>

IntegratorSymplecticRkPtr ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integratorRkSymplectic_

protected

an integrator for forward integrating a symplectic continuous-time system with symplectic RK methods

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initializeSymplecticIntegrator(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::integrateSymplectic().

◆ substepRecorder_

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>

SubstepRecorderPtr ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::substepRecorder_

protected

substep recorder which logs all the substeps required for later computing exact sensitivities

Referenced by ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubcontrols(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::getSubstates(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initialize(), ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::initializeSymplecticIntegrator(), and ct::core::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >::propagateControlledDynamics().

The documentation for this class was generated from the following files:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/systems/discrete_time/SystemDiscretizer.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_core/include/ct/core/systems/discrete_time/SystemDiscretizer-impl.h

Public Types

Public Member Functions

Protected Member Functions

Protected 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::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >

Member Typedef Documentation

◆ Base

◆ time_t

◆ IntegratorPtr

◆ IntegratorSymplecticEulerPtr

◆ IntegratorSymplecticRkPtr

◆ ContinuousSystemPtr

◆ ContinuousConstantControllerPtr

◆ SubstepRecorderPtr

◆ StateVectorArray

◆ StateVectorArrayPtr

◆ ControlVectorArray

◆ ControlVectorArrayPtr

Constructor & Destructor Documentation

◆ SystemDiscretizer() [1/4]

◆ SystemDiscretizer() [2/4]

◆ SystemDiscretizer() [3/4]

◆ SystemDiscretizer() [4/4]

◆ ~SystemDiscretizer()

Member Function Documentation

◆ clone()

◆ initialize()

◆ setIntegrationType()

◆ setParameters()

◆ changeContinuousTimeSystem()

◆ propagateControlledDynamics()

◆ getSubstates()

◆ getSubcontrols()

◆ initializeSymplecticIntegrator() [1/2]

◆ initializeSymplecticIntegrator() [2/2]

◆ integrateSymplectic() [1/2]

◆ integrateSymplectic() [2/2]

◆ getSimulationTimestep()

Member Data Documentation

◆ dt_

◆ K_sim_

◆ dt_sim_

◆ integratorType_

◆ cont_time_system_

◆ cont_constant_controller_

◆ integrator_

◆ integratorEulerSymplectic_

◆ integratorRkSymplectic_

◆ substepRecorder_

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::SystemDiscretizer< STATE_DIM, CONTROL_DIM, P_DIM, V_DIM, SCALAR >