#include <HyALinearizedForward.h>

Inheritance diagram for ct::models::HyA::HyALinearizedForward:

Public Types
typedef ct::core::LinearSystem< 12, 6, double >	Base

typedef Base::state_vector_t	state_vector_t

typedef Base::control_vector_t	control_vector_t

typedef Base::state_matrix_t	state_matrix_t

typedef Base::state_control_matrix_t	state_control_matrix_t

Public Types inherited from ct::core::LinearSystem< 12, 6, double >
typedef Base::time_t	time_t

typedef StateVector< 12, double >	state_vector_t

typedef ControlVector< 6, double >	control_vector_t

typedef StateMatrix< 12, double >	state_matrix_t

typedef StateControlMatrix< 12, 6, double >	state_control_matrix_t

Public Types inherited from ct::core::ControlledSystem< STATE_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

Public Member Functions
	HyALinearizedForward (const ct::core::SYSTEM_TYPE &type=ct::core::SYSTEM_TYPE::GENERAL)

	HyALinearizedForward (const HyALinearizedForward &other)

virtual	~HyALinearizedForward ()

virtual HyALinearizedForward *	clone () const override

virtual const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const double t=double(0.0)) override

virtual const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const double t=double(0.0)) override

Public Member Functions inherited from ct::core::LinearSystem< 12, 6, double >
	LinearSystem (const ct::core::SYSTEM_TYPE &type=ct::core::SYSTEM_TYPE::GENERAL)

virtual	~LinearSystem ()

virtual void	computeControlledDynamics (const state_vector_t &state, const time_t &t, const control_vector_t &control, state_vector_t &derivative) override

virtual const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0

virtual const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0

virtual void	getDerivatives (state_matrix_t &A, state_control_matrix_t &B, const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))

Public Member Functions inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (const ControlledSystem &arg)

virtual	~ControlledSystem ()

void	setController (const std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, SCALAR >> &controller)

void	getController (std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, SCALAR >> &controller) const

std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, SCALAR > >	getController ()

virtual void	computeDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative) override

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)

	System (const System &other)

virtual	~System ()

virtual void	computeDynamics (const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative)=0

SYSTEM_TYPE	getType () const

virtual bool	isSymplectic () const

Additional Inherited Members
Public Attributes inherited from ct::core::LinearSystem< 12, 6, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< 12, 6, double >	Base

Public Attributes inherited from ct::core::ControlledSystem< STATE_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

Protected Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, SCALAR > >	controller_

ControlVector< CONTROL_DIM, SCALAR >	controlAction_

Protected Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
SYSTEM_TYPE	type_

Member Typedef Documentation

◆ Base

typedef ct::core::LinearSystem<12, 6, double> ct::models::HyA::HyALinearizedForward::Base

◆ state_vector_t

typedef Base::state_vector_t ct::models::HyA::HyALinearizedForward::state_vector_t

◆ control_vector_t

typedef Base::control_vector_t ct::models::HyA::HyALinearizedForward::control_vector_t

◆ state_matrix_t

typedef Base::state_matrix_t ct::models::HyA::HyALinearizedForward::state_matrix_t

◆ state_control_matrix_t

typedef Base::state_control_matrix_t ct::models::HyA::HyALinearizedForward::state_control_matrix_t

Constructor & Destructor Documentation

◆ HyALinearizedForward() [1/2]

ct::models::HyA::HyALinearizedForward::HyALinearizedForward ( const ct::core::SYSTEM_TYPE & type = ct::core::SYSTEM_TYPE::GENERAL )

inline

Referenced by clone().

◆ HyALinearizedForward() [2/2]

ct::models::HyA::HyALinearizedForward::HyALinearizedForward ( const HyALinearizedForward & other )

inline

◆ ~HyALinearizedForward()

virtual ct::models::HyA::HyALinearizedForward::~HyALinearizedForward ( )

inlinevirtual

Member Function Documentation

◆ clone()

virtual HyALinearizedForward* ct::models::HyA::HyALinearizedForward::clone ( ) const

inlineoverridevirtual

Implements ct::core::LinearSystem< 12, 6, double >.

References getDerivativeControl(), getDerivativeState(), HyALinearizedForward(), t, u, and x.

◆ getDerivativeState()

const HyALinearizedForward::state_matrix_t & ct::models::HyA::HyALinearizedForward::getDerivativeState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const double	t = `double(0.0)`
	)

overridevirtual

Referenced by clone(), TEST(), and timingForwardDynamics().

◆ getDerivativeControl()

const HyALinearizedForward::state_control_matrix_t & ct::models::HyA::HyALinearizedForward::getDerivativeControl	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const double	t = `double(0.0)`
	)