Namespaces
	ADHelperFunctions

	generated

	internal

	inverseHelperfunctions

	plot

	plotQwt

	tpl

Classes
class	ADHelpers

class	ConstantController
	A constant controller. More...

class	ConstantStateFeedbackController
	A constant state feedback controller. More...

class	ConstantTrajectoryController
	A constant controller. More...

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

class	Controller
	Interface class for all controllers. More...

class	ControlMatrix

class	ControlSimulator
	A class for simulating controlled systems in a general way. More...

class	ControlVector

class	Derivatives
	General interface class for a Derivatives. More...

class	DerivativesCppadSettings
	Contains the NLP solver settings. More...

class	DerivativesNumDiff
	Derivatives using Num-Diff Codegeneration. More...

class	DiscreteArray
	An discrete array (vector) of a particular data type. More...

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

class	DiscreteController
	Interface class for all controllers. More...

class	DiscreteLinearSystem
	interface class for a general discrete linear system or linearized discrete system More...

class	DiscreteSystem

class	DiscreteSystemLinearizer
	Computes the linearization of a general non-linear DiscreteControlledSystem using numerical differentiation. More...

class	DiscreteTrajectoryBase
	A discrete, timed trajectory with interpolation. More...

class	DynamicsLinearizerNumDiff
	Computes the linearization of a system dynamics function through numerical finite differencing. More...

class	EventHandler
	Interface for an event handler for an Integrator. More...

class	FeedbackMatrix

class	GaussianNoise
	Gaussian noise generator. More...

class	GeneralLinearFunction

class	Integrator
	Standard Integrator. More...

class	IntegratorSymplectic
	This class wraps the symplectic integrators from boost to this toolbox. More...

class	Interpolation
	Class that performs interpolation of data in time. More...

class	KillIntegrationEventHandler
	Event handler to kill integration. More...

class	LinearFunctionMIMO

class	LinearSystem
	interface class for a general linear system or linearized system More...

class	LTISystem
	Linear time-invariant system. More...

class	MaxStepsEventHandler
	Event handler to kill a (variable step) Integrator after doing too many steps. More...

class	Observer
	Observer for Integrator. More...

class	OutputMatrix

class	OutputStateMatrix

class	OutputVector

class	PhaseSequence
	Describes a Phase sequence with timing. More...

class	PIDController
	A standard PIDController. More...

class	Plane
	Implements a geometrical 3D plane of type . More...

class	PlaneEstimator
	Estimates a Plane from a number of 3D points using least squares. More...

class	QuantizationNoise
	Quantization of data. More...

class	ScalarArray
	An array of scalar data types. More...

class	ScalarTrajectory
	Specialized type of a discrete trajectory for scalar types. More...

class	Sensitivity

class	SensitivityApproximation
	interface class for a general linear system or linearized system More...

struct	SensitivityApproximationSettings
	settings for the SensitivityApproximation More...

class	SensitivityIntegrator
	This class can integrate a controlled system Furthermore, it provides first order derivatives with respect to initial state and control. More...

class	StateControlMatrix

class	StateFeedbackController
	A linear state feedback controller. More...

class	StateMatrix

class	StateVector

class	StepInputController
	A simple step input. More...

class	SubstepRecorder
	Event handler to record substeps. More...

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

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

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

class	SwitchedLinearSystem
	interface class for a general switched linear system or linearized system More...

struct	SwitchEvent
	Describes a switch between phases. More...

class	SymplecticSystem
	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...

class	System
	Interface class for a general system described by an ordinary differential equation (ODE) More...

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

class	SystemLinearizer
	Computes the linearization of a general non-linear ControlledSystem using numerical differentiation. More...

class	TrajectoryBase
	Basic interface class for a trajectory. More...

class	UniformNoise
	Uniform noise generator. More...

Typedefs
typedef tpl::TestLinearSystem< double >	TestLinearSystem

typedef tpl::ActivationBase< double >	ActivationBase

typedef tpl::BarrierActivation< double, ct::core::internal::DoubleTrait >	BarrierActivation

typedef tpl::LinearActivation< double >	LinearActivation

typedef tpl::PeriodicActivation< double >	PeriodicActivation

typedef tpl::RBFGaussActivation< double >	RBFGaussActivation

typedef tpl::SingleActivation< double >	SingleActivation

typedef tpl::ExternallyDrivenTimer< double >	ExternallyDrivenTimer

typedef tpl::Timer< double >	Timer

typedef tpl::Ellipsoid< double >	Ellipsoid

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>
using	IntegratorSymplecticEuler = IntegratorSymplectic< POS_DIM, VEL_DIM, CONTROL_DIM, internal::symplectic_euler_t< POS_DIM, VEL_DIM, SCALAR >, SCALAR >

template<size_t POS_DIM, size_t VEL_DIM, size_t CONTROL_DIM, typename SCALAR = double>
using	IntegratorSymplecticRk = IntegratorSymplectic< POS_DIM, VEL_DIM, CONTROL_DIM, internal::symplectic_rk_t< POS_DIM, VEL_DIM, SCALAR >, SCALAR >

template<class T , class Alloc = Eigen::aligned_allocator<T>>
using	Switched = std::vector< T, Alloc >
	Declaring Switched alias such that we can write Switched<System> More...

using	ContinuousModeSequence = PhaseSequence< std::size_t, double >

using	ContinuousModeSwitch = SwitchEvent< std::size_t, double >

using	DiscreteModeSequence = PhaseSequence< std::size_t, int >

using	DiscreteModeSwitch = SwitchEvent< std::size_t, int >

typedef tpl::SecondOrderSystem< double >	SecondOrderSystem
	harmonic oscillator (double) More...

template<size_t CONTROL_DIM, typename SCALAR = double>
using	ControlMatrixArray = DiscreteArray< ControlMatrix< CONTROL_DIM, SCALAR > >

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
using	FeedbackArray = DiscreteArray< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR > >

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
using	StateControlMatrixArray = DiscreteArray< StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR > >

template<size_t STATE_DIM, typename SCALAR = double>
using	StateMatrixArray = DiscreteArray< StateMatrix< STATE_DIM, SCALAR > >

template<size_t STATE_DIM, typename SCALAR = double>
using	StateVectorArray = DiscreteArray< StateVector< STATE_DIM, SCALAR > >

template<size_t CONTROL_DIM, typename SCALAR = double>
using	ControlVectorArray = DiscreteArray< ControlVector< CONTROL_DIM, SCALAR > >

template<size_t OUTPUT_DIM, typename SCALAR = double>
using	OutputVectorArray = DiscreteArray< OutputVector< OUTPUT_DIM, SCALAR > >

template<size_t OUTPUT_DIM, typename SCALAR = double>
using	OutputMatrixArray = DiscreteArray< OutputMatrix< OUTPUT_DIM, SCALAR > >

typedef tpl::TimeArray< double >	TimeArray

typedef double	Time

template<size_t CONTROL_DIM, typename SCALAR = double, typename TIME_SCALAR = SCALAR>
using	ControlTrajectory = DiscreteTrajectoryBase< ControlVector< CONTROL_DIM, SCALAR >, Eigen::aligned_allocator< ControlVector< CONTROL_DIM, SCALAR > >, TIME_SCALAR >

template<size_t CONTROL_DIM, typename SCALAR = double>
using	ControlMatrixTrajectory = DiscreteTrajectoryBase< ControlMatrix< CONTROL_DIM, SCALAR > >

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
using	FeedbackTrajectory = DiscreteTrajectoryBase< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR >, Eigen::aligned_allocator< FeedbackMatrix< STATE_DIM, CONTROL_DIM, SCALAR > >, SCALAR >

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
using	StateControlMatrixTrajectory = DiscreteTrajectoryBase< StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR > >

template<size_t STATE_DIM, typename SCALAR = double>
using	StateMatrixTrajectory = DiscreteTrajectoryBase< StateMatrix< STATE_DIM, SCALAR > >

template<size_t STATE_DIM, typename SCALAR = double, typename TIME_SCALAR = SCALAR>
using	StateTrajectory = DiscreteTrajectoryBase< StateVector< STATE_DIM, SCALAR >, Eigen::aligned_allocator< StateVector< STATE_DIM, SCALAR > >, TIME_SCALAR >

typedef tpl::TestDiscreteNonlinearSystem< double >	TestDiscreteNonlinearSystem

typedef tpl::TestNonlinearSystem< double >	TestNonlinearSystem

typedef tpl::TestSymplecticSystem< double >	TestSymplecticSystem

Enumerations
enum	InterpolationType { ZOH = 0, LIN }

enum	IntegrationType { EULER, RK4, MODIFIED_MIDPOINT, ODE45, RK5VARIABLE, RK78, BULIRSCHSTOER, EULERCT, RK4CT, EULER_SYM, RK_SYM }
	The available integration types. More...

enum	SYSTEM_TYPE { GENERAL = 0, SECOND_ORDER }
	type of system More...

Functions
template<typename SCALAR >
void	loadScalar (const std::string &filename, const std::string &scalarName, SCALAR &scalar, const std::string &ns="")
	Loads a scalar file from an .info file. More...

template<typename SCALAR >
void	loadScalarOptional (const std::string &filename, const std::string &scalarName, SCALAR &scalar, const SCALAR &defaultValue, const std::string &ns="")
	Tries to load a scalar from an .info file. Falls back to default value if not found. More...

template<typename SCALAR , int ROW, int COL>
void	loadMatrix (const std::string &filename, const std::string &matrixName, Eigen::Matrix< SCALAR, ROW, COL > &matrix, const std::string &ns="")
	Loads a matrix/vector file from an .info file. More...

template<typename TRAJECTORY_T >
TRAJECTORY_T	linspace (const typename TRAJECTORY_T::value_type &a, const typename TRAJECTORY_T::value_type &b, const size_t N)
	replicates the well-known linspace command from MATLAB in C++ More...

template<typename SCALAR >
Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	LUsolve (const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &A, const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &B)

template<typename SCALAR >
Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	LDLTsolve (const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &A, const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &B)

template<typename EIGEN_VECTOR_ARRAY_TYPE_IN , typename SCALAR = double>
DiscreteArray< Eigen::Matrix< SCALAR, -1, -1 > >	transposeArray (const EIGEN_VECTOR_ARRAY_TYPE_IN &array)
	this method transposes/flips an array of vectors into another array containing the scalar trajectories corresponding to each dimension of the input array. More...

Typedef Documentation

◆ ActivationBase

typedef tpl::ActivationBase<double> ct::core::ActivationBase

◆ BarrierActivation

typedef tpl::BarrierActivation<double, ct::core::internal::DoubleTrait> ct::core::BarrierActivation

◆ LinearActivation

typedef tpl::LinearActivation<double> ct::core::LinearActivation

◆ PeriodicActivation

typedef tpl::PeriodicActivation<double> ct::core::PeriodicActivation

◆ RBFGaussActivation

typedef tpl::RBFGaussActivation<double> ct::core::RBFGaussActivation

◆ SingleActivation

typedef tpl::SingleActivation<double> ct::core::SingleActivation

◆ ExternallyDrivenTimer

typedef tpl::ExternallyDrivenTimer<double> ct::core::ExternallyDrivenTimer

◆ Timer

typedef tpl::Timer<double> ct::core::Timer

◆ Ellipsoid

typedef tpl::Ellipsoid<double> ct::core::Ellipsoid

◆ IntegratorSymplecticEuler

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

using ct::core::IntegratorSymplecticEuler = typedef IntegratorSymplectic<POS_DIM, VEL_DIM, CONTROL_DIM, internal::symplectic_euler_t<POS_DIM, VEL_DIM, SCALAR>, SCALAR>

◆ IntegratorSymplecticRk

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

using ct::core::IntegratorSymplecticRk = typedef IntegratorSymplectic<POS_DIM, VEL_DIM, CONTROL_DIM, internal::symplectic_rk_t<POS_DIM, VEL_DIM, SCALAR>, SCALAR>

◆ Switched

template<class T , class Alloc = Eigen::aligned_allocator<T>>

using ct::core::Switched = typedef std::vector<T, Alloc>

Declaring Switched alias such that we can write Switched<System>

◆ ContinuousModeSequence

using ct::core::ContinuousModeSequence = typedef PhaseSequence<std::size_t, double>

◆ ContinuousModeSwitch

using ct::core::ContinuousModeSwitch = typedef SwitchEvent<std::size_t, double>

◆ DiscreteModeSequence

using ct::core::DiscreteModeSequence = typedef PhaseSequence<std::size_t, int>

◆ DiscreteModeSwitch

using ct::core::DiscreteModeSwitch = typedef SwitchEvent<std::size_t, int>

◆ SecondOrderSystem

typedef tpl::SecondOrderSystem<double> ct::core::SecondOrderSystem

harmonic oscillator (double)

Examples:: SecondOrderSystemTest.cpp.

◆ ControlMatrixArray

template<size_t CONTROL_DIM, typename SCALAR = double>

using ct::core::ControlMatrixArray = typedef DiscreteArray<ControlMatrix<CONTROL_DIM, SCALAR> >

◆ FeedbackArray

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

using ct::core::FeedbackArray = typedef DiscreteArray<FeedbackMatrix<STATE_DIM, CONTROL_DIM, SCALAR> >

◆ StateControlMatrixArray

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

using ct::core::StateControlMatrixArray = typedef DiscreteArray<StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> >

◆ StateMatrixArray

template<size_t STATE_DIM, typename SCALAR = double>

using ct::core::StateMatrixArray = typedef DiscreteArray<StateMatrix<STATE_DIM, SCALAR> >

◆ StateVectorArray

template<size_t STATE_DIM, typename SCALAR = double>

using ct::core::StateVectorArray = typedef DiscreteArray<StateVector<STATE_DIM, SCALAR> >

◆ ControlVectorArray

template<size_t CONTROL_DIM, typename SCALAR = double>

using ct::core::ControlVectorArray = typedef DiscreteArray<ControlVector<CONTROL_DIM, SCALAR> >

◆ OutputVectorArray

template<size_t OUTPUT_DIM, typename SCALAR = double>

using ct::core::OutputVectorArray = typedef DiscreteArray<OutputVector<OUTPUT_DIM, SCALAR> >

◆ OutputMatrixArray

template<size_t OUTPUT_DIM, typename SCALAR = double>

using ct::core::OutputMatrixArray = typedef DiscreteArray<OutputMatrix<OUTPUT_DIM, SCALAR> >

◆ TimeArray

typedef tpl::TimeArray<double> ct::core::TimeArray

◆ Time

typedef double ct::core::Time

◆ ControlTrajectory

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

using ct::core::ControlTrajectory = typedef DiscreteTrajectoryBase<ControlVector<CONTROL_DIM, SCALAR>, Eigen::aligned_allocator<ControlVector<CONTROL_DIM, SCALAR> >, TIME_SCALAR>

◆ ControlMatrixTrajectory

template<size_t CONTROL_DIM, typename SCALAR = double>

using ct::core::ControlMatrixTrajectory = typedef DiscreteTrajectoryBase<ControlMatrix<CONTROL_DIM, SCALAR> >

◆ FeedbackTrajectory

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

using ct::core::FeedbackTrajectory = typedef DiscreteTrajectoryBase<FeedbackMatrix<STATE_DIM, CONTROL_DIM, SCALAR>, Eigen::aligned_allocator<FeedbackMatrix<STATE_DIM, CONTROL_DIM, SCALAR> >, SCALAR>

◆ StateControlMatrixTrajectory

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

using ct::core::StateControlMatrixTrajectory = typedef DiscreteTrajectoryBase<StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> >

◆ StateMatrixTrajectory

template<size_t STATE_DIM, typename SCALAR = double>

using ct::core::StateMatrixTrajectory = typedef DiscreteTrajectoryBase<StateMatrix<STATE_DIM, SCALAR> >

◆ StateTrajectory

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

using ct::core::StateTrajectory = typedef DiscreteTrajectoryBase<StateVector<STATE_DIM, SCALAR>, Eigen::aligned_allocator<StateVector<STATE_DIM, SCALAR> >, TIME_SCALAR>

◆ TestDiscreteNonlinearSystem

typedef tpl::TestDiscreteNonlinearSystem<double> ct::core::TestDiscreteNonlinearSystem

Examples:: AutoDiffLinearizerTest.cpp.

◆ TestNonlinearSystem

typedef tpl::TestNonlinearSystem<double> ct::core::TestNonlinearSystem

Examples:: AutoDiffLinearizerTest.cpp.

◆ TestSymplecticSystem

typedef tpl::TestSymplecticSystem<double> ct::core::TestSymplecticSystem

Enumeration Type Documentation

◆ InterpolationType

enum ct::core::InterpolationType

Enumerator
ZOH	Zero-Order hold.
LIN	LIN.

◆ IntegrationType

enum ct::core::IntegrationType

The available integration types.

Enumerator
EULER
RK4
MODIFIED_MIDPOINT
ODE45
RK5VARIABLE
RK78
BULIRSCHSTOER
EULERCT
RK4CT
EULER_SYM
RK_SYM

◆ SYSTEM_TYPE

enum ct::core::SYSTEM_TYPE

type of system

Enumerator
GENERAL	any non-specific system
SECOND_ORDER	a pure second-order system

Function Documentation

◆ loadScalar()

template<typename SCALAR >

void ct::core::loadScalar	(	const std::string &	filename,
		const std::string &	scalarName,
		SCALAR &	scalar,
		const std::string &	ns = `""`
	)

Loads a scalar file from an .info file.

Warning: This function will throw an exception if the scalar is not found. For a non-throwing version, see loadScalarOptional()

Parameters

filename	the full or relative path of the file to load
scalarName	the name of the scalar in the info file
scalar	value to store
ns	the namespace that the scalar lives in

Template Parameters

SCALAR the scalar type, i.e. double, int, size_t etc.

◆ loadScalarOptional()

template<typename SCALAR >

void ct::core::loadScalarOptional	(	const std::string &	filename,
		const std::string &	scalarName,
		SCALAR &	scalar,
		const SCALAR &	defaultValue,
		const std::string &	ns = `""`
	)

Tries to load a scalar from an .info file. Falls back to default value if not found.

Parameters

filename	the full or relative path of the file to load
scalarName	the name of the scalar in the info file
scalar	value to store
defaultValue	the default value to fall back to. Can be the same as scalar.
ns	the namespace that the scalar lives in

Template Parameters

SCALAR the scalar type, i.e. double, int, size_t etc.

◆ loadMatrix()

template<typename SCALAR , int ROW, int COL>

void ct::core::loadMatrix	(	const std::string &	filename,
		const std::string &	matrixName,
		Eigen::Matrix< SCALAR, ROW, COL > &	matrix,
		const std::string &	ns = `""`
	)

Loads a matrix/vector file from an .info file.

This function supports sparse storage of vectors matrices, i.e. all entries not found in the .info file are assumed to be zero. Also, it looks for a parameter called "scaling" (defaults to 1) and multiplies all stored values. The example file:

M
{
scaling 2.5
(0,0) 10.0
(1,1) 20.0
(2,2) 0.0
(2,0) 1.0
}

would generate the following matrix

$M = 2.5 \cdot \begin{pmatrix} 10 & 0.0 & 0.0 \\ 0.0 & 2.0 & 0.0 \\ 1.0 & 0.0 & 0.0 \end{pmatrix} = \begin{pmatrix} 25 & 0.0 & 0.0 \\ 0.0 & 50.0 & 0.0 \\ 25.0 & 0.0 & 0.0 \end{pmatrix}$

Warning: If the matrix is not found, it defaults all entries to zero.

Parameters

filename	the full or relative path of the file to load
matrixName	the name of the matrix in the info file
matrix	value to store
ns	the namespace that the matrix lives in

Template Parameters

SCALAR	the scalar type, i.e. double, int, size_t etc.
ROW	number of rows (needs to be positive!)
COL	numer of columns (needs to be positive!)

References i.

◆ linspace()

template<typename TRAJECTORY_T >

TRAJECTORY_T ct::core::linspace	(	const typename TRAJECTORY_T::value_type &	a,
		const typename TRAJECTORY_T::value_type &	b,
		const size_t	N
	)

replicates the well-known linspace command from MATLAB in C++

linspace provides exactly the same properties and functionality like in MATLAB.

N denotes the number of points, so you will obtain N-1 intervals
a is the start of the interval
b is the end of the interval

Unit test LinspaceTest.cpp illustrates the use of linspace.

Examples:: DiscreteTrajectoryTest.cpp.

Referenced by TEST().

◆ LUsolve()

template<typename SCALAR >

Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::core::LUsolve	(	const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &	A,
		const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &	B
	)

References n, and X.

◆ LDLTsolve()

template<typename SCALAR >

Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::core::LDLTsolve	(	const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &	A,
		const Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic > &	B
	)

References ct::core::inverseHelperfunctions::ldlt(), n, ct::core::inverseHelperfunctions::solveLDLT(), and X.

◆ transposeArray()

template<typename EIGEN_VECTOR_ARRAY_TYPE_IN , typename SCALAR = double>

DiscreteArray<Eigen::Matrix<SCALAR, -1, -1> > ct::core::transposeArray ( const EIGEN_VECTOR_ARRAY_TYPE_IN & array )

this method transposes/flips an array of vectors into another array containing the scalar trajectories corresponding to each dimension of the input array.

Example: if a StateVectorArray<3> with a total length of 100 is the input, the output is a vector of lengt 3, which contains Eigen-Vectors of length 100 corresponding to the scalar sequence in each dimension of the input array.

Template Parameters

EIGEN_VECTOR_ARRAY_TYPE_IN	type of the input array
SCALAR	primitive type

Parameters

array the input array to be transposed

Returns: DiscreteArray<Eigen::Matrix<SCALAR, -1, -1>> the output (transposed) array.

Warning: this method is inefficient, to not call at in performance-critical code.

References i.

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ActivationBase

◆ BarrierActivation

◆ LinearActivation

◆ PeriodicActivation

◆ RBFGaussActivation

◆ SingleActivation

◆ ExternallyDrivenTimer

◆ Timer

◆ Ellipsoid

◆ IntegratorSymplecticEuler

◆ IntegratorSymplecticRk

◆ Switched

◆ ContinuousModeSequence

◆ ContinuousModeSwitch

◆ DiscreteModeSequence

◆ DiscreteModeSwitch

◆ SecondOrderSystem

◆ ControlMatrixArray

◆ FeedbackArray

◆ StateControlMatrixArray

◆ StateMatrixArray

◆ StateVectorArray

◆ ControlVectorArray

◆ OutputVectorArray

◆ OutputMatrixArray

◆ TimeArray

◆ Time

◆ ControlTrajectory

◆ ControlMatrixTrajectory

◆ FeedbackTrajectory

◆ StateControlMatrixTrajectory

◆ StateMatrixTrajectory

◆ StateTrajectory

◆ TestDiscreteNonlinearSystem

◆ TestNonlinearSystem

◆ TestSymplecticSystem

Enumeration Type Documentation

◆ InterpolationType

◆ IntegrationType

◆ SYSTEM_TYPE

Function Documentation

◆ loadScalar()

◆ loadScalarOptional()

◆ loadMatrix()

◆ linspace()

◆ LUsolve()

◆ LDLTsolve()

◆ transposeArray()