#include <HyQWithContactModelLinearizedForward.h>

Inheritance diagram for ct::models::HyQ::HyQWithContactModelLinearizedForward:

Public Types
typedef ct::core::LinearSystem< 36, 12, 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< 36, 12, double >
typedef Base::time_t	time_t

typedef StateVector< 36, double >	state_vector_t

typedef ControlVector< 12, double >	control_vector_t

typedef StateMatrix< 36, double >	state_matrix_t

typedef StateControlMatrix< 36, 12, 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
	HyQWithContactModelLinearizedForward (const ct::core::SYSTEM_TYPE &type=ct::core::SYSTEM_TYPE::GENERAL)

	HyQWithContactModelLinearizedForward (const HyQWithContactModelLinearizedForward &other)

virtual	~HyQWithContactModelLinearizedForward ()

virtual HyQWithContactModelLinearizedForward *	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< 36, 12, 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< 36, 12, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< 36, 12, 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<36, 12, double> ct::models::HyQ::HyQWithContactModelLinearizedForward::Base

◆ state_vector_t

typedef Base::state_vector_t ct::models::HyQ::HyQWithContactModelLinearizedForward::state_vector_t

◆ control_vector_t

typedef Base::control_vector_t ct::models::HyQ::HyQWithContactModelLinearizedForward::control_vector_t

◆ state_matrix_t

typedef Base::state_matrix_t ct::models::HyQ::HyQWithContactModelLinearizedForward::state_matrix_t

◆ state_control_matrix_t

typedef Base::state_control_matrix_t ct::models::HyQ::HyQWithContactModelLinearizedForward::state_control_matrix_t

Constructor & Destructor Documentation

◆ HyQWithContactModelLinearizedForward() [1/2]

ct::models::HyQ::HyQWithContactModelLinearizedForward::HyQWithContactModelLinearizedForward ( const ct::core::SYSTEM_TYPE & type = ct::core::SYSTEM_TYPE::GENERAL )

inline

Referenced by clone().

◆ HyQWithContactModelLinearizedForward() [2/2]

ct::models::HyQ::HyQWithContactModelLinearizedForward::HyQWithContactModelLinearizedForward ( const HyQWithContactModelLinearizedForward & other )

inline

◆ ~HyQWithContactModelLinearizedForward()

virtual ct::models::HyQ::HyQWithContactModelLinearizedForward::~HyQWithContactModelLinearizedForward ( )

inlinevirtual

Member Function Documentation

◆ clone()

virtual HyQWithContactModelLinearizedForward* ct::models::HyQ::HyQWithContactModelLinearizedForward::clone ( ) const

inlineoverridevirtual

Implements ct::core::LinearSystem< 36, 12, double >.

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

◆ getDerivativeState()

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

overridevirtual

Referenced by clone().

◆ getDerivativeControl()

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

overridevirtual

Referenced by clone().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/HyQ/codegen/HyQWithContactModelLinearizedForward.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/HyQ/codegen/HyQWithContactModelLinearizedForward.cpp

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ state_matrix_t

◆ state_control_matrix_t

Constructor & Destructor Documentation

◆ HyQWithContactModelLinearizedForward() [1/2]

◆ HyQWithContactModelLinearizedForward() [2/2]

◆ ~HyQWithContactModelLinearizedForward()

Member Function Documentation

◆ clone()

◆ getDerivativeState()

◆ getDerivativeControl()