Implementation of an input disturbed system where, the dimension of the disturbance is equal to the dimension of the control input, thus DIST_DIM = CONTROL_DIM. This is a special case, however it occurs often and is convenient to have as separate class. More...

#include <InputDisturbedSystem.h>

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

Public Types
using	Base = typename ct::optcon::DisturbedSystem< STATE_DIM, CONTROL_DIM, CONTROL_DIM, SCALAR >

Public Types inherited from ct::core::ControlledSystem< STATE_DIM+DIST_DIM, CONTROL_DIM, SCALAR >
typedef std::shared_ptr< ControlledSystem< STATE_DIM+DIST_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
	InputDisturbedSystem (std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> sys)
	Construct a new Input Disturbed System object. More...

	InputDisturbedSystem (const InputDisturbedSystem &other)
	copy constructor More...

InputDisturbedSystem *	clone () const override
	deep cloning More...

void	computeControlledDynamics (const ct::core::StateVector< AUGMENTED_STATE_DIM, SCALAR > &state, const SCALAR &t, const ct::core::ControlVector< CONTROL_DIM, SCALAR > &control, ct::core::StateVector< AUGMENTED_STATE_DIM, SCALAR > &derivative) override
	compute the dynamics (the left-hand-side of the dynamics equation) for the disturbance-augmented system More...

Public Member Functions inherited from ct::optcon::DisturbedSystem< STATE_DIM, CONTROL_DIM, CONTROL_DIM, SCALAR >
	DisturbedSystem ()
	Constructor. More...

	DisturbedSystem (std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, SCALAR >> controller)
	Copy constructor. More...

virtual	~DisturbedSystem ()=default

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

virtual void	computeControlledDynamics (const ct::core::StateVector< AUGMENTED_DIM, SCALAR > &state, const SCALAR &t, const ct::core::ControlVector< CONTROL_DIM, SCALAR > &control, ct::core::StateVector< AUGMENTED_DIM, SCALAR > &derivative)=0
	Implementation of the base computeControlledDynamics method. More...

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

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_DIM+DIST_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+DIST_DIM, CONTROL_DIM, SCALAR >> &controller)

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

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

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

virtual void	computeControlledDynamics (const StateVector< STATE_DIM+DIST_DIM, SCALAR > &state, const time_t &t, const ControlVector< CONTROL_DIM, SCALAR > &control, StateVector< STATE_DIM+DIST_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

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	AUGMENTED_STATE_DIM = STATE_DIM + CONTROL_DIM

Static Public Attributes inherited from ct::optcon::DisturbedSystem< STATE_DIM, CONTROL_DIM, CONTROL_DIM, SCALAR >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	AUGMENTED_DIM

Additional Inherited Members
Public Attributes inherited from ct::core::ControlledSystem< STATE_DIM+DIST_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< STATE_DIM+DIST_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+DIST_DIM, CONTROL_DIM, SCALAR >
std::shared_ptr< Controller< STATE_DIM+DIST_DIM, CONTROL_DIM, SCALAR > >	controller_

ControlVector< CONTROL_DIM, SCALAR >	controlAction_

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

Detailed Description

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

Implementation of an input disturbed system where, the dimension of the disturbance is equal to the dimension of the control input, thus DIST_DIM = CONTROL_DIM. This is a special case, however it occurs often and is convenient to have as separate class.

The new state vector has the form x_aug = [x_system + disturbance];

Note: this system should not be for simulation, but for filtering. It is not suitable for simulation since the disturbance state gets mapped back to the control input.

Template Parameters

STATE_DIM	state dimension
CONTROL_DIM
double

Examples:: KalmanDisturbanceFiltering.cpp.

Member Typedef Documentation

◆ Base

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

using ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::Base = typename ct::optcon::DisturbedSystem<STATE_DIM, CONTROL_DIM, CONTROL_DIM, SCALAR>

Constructor & Destructor Documentation

◆ InputDisturbedSystem() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::InputDisturbedSystem ( std::shared_ptr< ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >> sys )

Construct a new Input Disturbed System object.

Parameters

sys	the system that is subject to a disturbance

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

◆ InputDisturbedSystem() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::InputDisturbedSystem ( const InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR > & other )

copy constructor

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR > * ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

overridevirtual

deep cloning

Implements ct::core::ControlledSystem< STATE_DIM+DIST_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::InputDisturbedSystem().

◆ computeControlledDynamics()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::computeControlledDynamics	(	const ct::core::StateVector< AUGMENTED_STATE_DIM, SCALAR > &	state,
		const SCALAR &	t,
		const ct::core::ControlVector< CONTROL_DIM, SCALAR > &	control,
		ct::core::StateVector< AUGMENTED_STATE_DIM, SCALAR > &	derivative
	)

override

compute the dynamics (the left-hand-side of the dynamics equation) for the disturbance-augmented system

Parameters

state	the augmented state
t	the current time
control	the nominal control (non-perturbed)
derivative	the left-hand side of the augmented system

Member Data Documentation

◆ AUGMENTED_STATE_DIM

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t ct::optcon::InputDisturbedSystem< STATE_DIM, CONTROL_DIM, SCALAR >::AUGMENTED_STATE_DIM = STATE_DIM + CONTROL_DIM

static

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

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Base

Constructor & Destructor Documentation

◆ InputDisturbedSystem() [1/2]

◆ InputDisturbedSystem() [2/2]

Member Function Documentation

◆ clone()

◆ computeControlledDynamics()

Member Data Documentation

◆ AUGMENTED_STATE_DIM

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