#include <QuadrotorLinear.hpp>

Inheritance diagram for ct::models::QuadrotorLinear:

Public Types
typedef ct::core::StateVector< quadrotor::nStates >	state_vector_t

typedef ct::core::ControlVector< quadrotor::nControls >	control_vector_t

typedef Eigen::Matrix< double, quadrotor::nStates, quadrotor::nStates >	state_matrix_t

typedef Eigen::Matrix< double, quadrotor::nStates, quadrotor::nControls >	state_control_matrix_t

Public Types inherited from ct::core::LinearSystem< quadrotor::nStates, quadrotor::nControls >
typedef Base::time_t	time_t

typedef StateVector< quadrotor::nStates, SCALAR >	state_vector_t

typedef ControlVector< quadrotor::nControls, SCALAR >	control_vector_t

typedef StateMatrix< quadrotor::nStates, SCALAR >	state_matrix_t

typedef StateControlMatrix< quadrotor::nStates, quadrotor::nControls, SCALAR >	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
QuadrotorLinear *	clone () const override

const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const ct::core::Time t=0.0) override

const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const ct::core::Time t=0.0) override

Public Member Functions inherited from ct::core::LinearSystem< quadrotor::nStates, quadrotor::nControls >
	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< quadrotor::nStates, quadrotor::nControls >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< quadrotor::nStates, quadrotor::nControls, SCALAR >	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

◆ state_vector_t

typedef ct::core::StateVector<quadrotor::nStates> ct::models::QuadrotorLinear::state_vector_t

◆ control_vector_t

typedef ct::core::ControlVector<quadrotor::nControls> ct::models::QuadrotorLinear::control_vector_t

◆ state_matrix_t

typedef Eigen::Matrix<double, quadrotor::nStates, quadrotor::nStates> ct::models::QuadrotorLinear::state_matrix_t

◆ state_control_matrix_t

typedef Eigen::Matrix<double, quadrotor::nStates, quadrotor::nControls> ct::models::QuadrotorLinear::state_control_matrix_t

Member Function Documentation

◆ clone()

QuadrotorLinear* ct::models::QuadrotorLinear::clone ( ) const

inlineoverridevirtual

Implements ct::core::LinearSystem< quadrotor::nStates, quadrotor::nControls >.

◆ getDerivativeState()

const state_matrix_t& ct::models::QuadrotorLinear::getDerivativeState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const ct::core::Time	t = `0.0`
	)

inlineoverride

References ct::models::A_quadrotor().

◆ getDerivativeControl()

const state_control_matrix_t& ct::models::QuadrotorLinear::getDerivativeControl	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const ct::core::Time	t = `0.0`
	)

inlineoverride

References ct::models::B_quadrotor().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/include/ct/models/Quadrotor/QuadrotorLinear.hpp

Public Types

Public Member Functions

Additional Inherited Members