System model adapted to CT. System model encapsulates the integrator, so it is able to propagate the system, but also computes derivatives w.r.t. both state and noise. When propagating the system, CTSystemModel does not use the specified control input, but uses the assigned system controller instead. More...

#include <CTSystemModel.h>

Inheritance diagram for ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
using	Base = SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >

using	SensitivityApprox_t = ct::core::SensitivityApproximation< STATE_DIM, CONTROL_DIM, STATE_DIM/2, STATE_DIM/2, SCALAR >

using	control_vector_t = ct::core::ControlVector< CONTROL_DIM, SCALAR >

using	state_matrix_t = ct::core::StateMatrix< STATE_DIM, SCALAR >

using	state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >

using	Time_t = SCALAR

Public Types inherited from ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >
using	state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >

using	state_matrix_t = ct::core::StateMatrix< STATE_DIM, SCALAR >

using	control_vector_t = ct::core::ControlVector< CONTROL_DIM, SCALAR >

using	Time_t = SCALAR

Public Member Functions
	CTSystemModel (std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> system, std::shared_ptr< SensitivityApprox_t > sensApprox, const state_matrix_t &dFdv, const ct::core::IntegrationType &intType=ct::core::IntegrationType::EULERCT)
	Constructor. Takes in the system with defined controller, and sens approximator for computing the derivatives. More...

state_vector_t	computeDynamics (const state_vector_t &state, const control_vector_t &u, const Time_t dt, Time_t t) override
	Propagates the system giving the next state as output. Control input is generated by the system controller. More...

state_matrix_t	computeDerivativeState (const state_vector_t &state, const control_vector_t &u, const Time_t dt, Time_t t) override
	Computes the derivative w.r.t state. Control input is generated by the system controller. More...

state_matrix_t	computeDerivativeNoise (const state_vector_t &state, const control_vector_t &control, const Time_t dt, Time_t t) override
	Computes the derivative w.r.t noise. Control input is generated by the system controller. More...

Public Member Functions inherited from ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >
virtual	~SystemModelBase ()=default
	Virtual destructor. More...

Protected Attributes
std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR > >	system_
	The underlying CT system. More...

std::shared_ptr< ct::core::ConstantController< STATE_DIM, CONTROL_DIM, SCALAR > >	constantController_
	each system gets re-assigned a constant controller for dynamics evaluation with known control inputs More...

std::shared_ptr< SensitivityApprox_t >	sensApprox_
	The sensitivity approximator. More...

state_matrix_t	dFdv_
	Derivative w.r.t. noise. More...

ct::core::Integrator< STATE_DIM, SCALAR >	integrator_
	Integrator. More...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >

System model adapted to CT. System model encapsulates the integrator, so it is able to propagate the system, but also computes derivatives w.r.t. both state and noise. When propagating the system, CTSystemModel does not use the specified control input, but uses the assigned system controller instead.

Todo:: this needs to get unified with the system-interface from optcon

Template Parameters

STATE_DIM
CONTROL_DIM

Examples:: KalmanDisturbanceFiltering.cpp, and KalmanFiltering.cpp.

Member Typedef Documentation

◆ Base

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

using ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::Base = SystemModelBase<STATE_DIM, CONTROL_DIM, SCALAR>

◆ SensitivityApprox_t

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

using ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::SensitivityApprox_t = ct::core::SensitivityApproximation<STATE_DIM, CONTROL_DIM, STATE_DIM / 2, STATE_DIM / 2, SCALAR>

◆ control_vector_t

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

using ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t = ct::core::ControlVector<CONTROL_DIM, SCALAR>

◆ state_matrix_t

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

using ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t = ct::core::StateMatrix<STATE_DIM, SCALAR>

◆ state_vector_t

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

using ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t = ct::core::StateVector<STATE_DIM, SCALAR>

◆ Time_t

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

using ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >::Time_t = SCALAR

Constructor & Destructor Documentation

◆ CTSystemModel()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::CTSystemModel	(	std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >>	system,
		std::shared_ptr< SensitivityApprox_t >	sensApprox,
		const state_matrix_t &	dFdv,
		const ct::core::IntegrationType &	intType = `ct::core::IntegrationType::EULERCT`
	)

Constructor. Takes in the system with defined controller, and sens approximator for computing the derivatives.

References ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::constantController_, and ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::system_.

Member Function Documentation

◆ computeDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

auto ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDynamics	(	const state_vector_t &	state,
		const control_vector_t &	u,
		const Time_t	dt,
		Time_t	t
	)

overridevirtual

Propagates the system giving the next state as output. Control input is generated by the system controller.

Implements ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::constantController_, dt, ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::integrator_, t, u, and x.

◆ computeDerivativeState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

auto ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDerivativeState	(	const state_vector_t &	state,
		const control_vector_t &	u,
		const Time_t	dt,
		Time_t	t
	)

overridevirtual

Computes the derivative w.r.t state. Control input is generated by the system controller.

Implements ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >.

References dt, ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::sensApprox_, t, and u.

◆ computeDerivativeNoise()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

auto ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDerivativeNoise	(	const state_vector_t &	state,
		const control_vector_t &	control,
		const Time_t	dt,
		Time_t	t
	)

overridevirtual

Computes the derivative w.r.t noise. Control input is generated by the system controller.

Implements ct::optcon::SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::dFdv_.

Member Data Documentation

◆ system_

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

std::shared_ptr<ct::core::ControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::system_

protected

The underlying CT system.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::CTSystemModel().

◆ constantController_

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

std::shared_ptr<ct::core::ConstantController<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::constantController_

protected

each system gets re-assigned a constant controller for dynamics evaluation with known control inputs

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDynamics(), and ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::CTSystemModel().

◆ sensApprox_

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

std::shared_ptr<SensitivityApprox_t> ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::sensApprox_

protected

The sensitivity approximator.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDerivativeState().

◆ dFdv_

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

state_matrix_t ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::dFdv_

protected

Derivative w.r.t. noise.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDerivativeNoise().

◆ integrator_

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

ct::core::Integrator<STATE_DIM, SCALAR> ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::integrator_

protected

Integrator.

Referenced by ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >::computeDynamics().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/filter/CTSystemModel.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/filter/CTSystemModel-impl.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ Base

◆ SensitivityApprox_t

◆ control_vector_t

◆ state_matrix_t

◆ state_vector_t

◆ Time_t

Constructor & Destructor Documentation

◆ CTSystemModel()

Member Function Documentation

◆ computeDynamics()

◆ computeDerivativeState()

◆ computeDerivativeNoise()

Member Data Documentation

◆ system_

◆ constantController_

◆ sensApprox_

◆ dFdv_

◆ integrator_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::CTSystemModel< STATE_DIM, CONTROL_DIM, SCALAR >