- 3.0.2 optimal control module.
Public Types | Public Member Functions | List of all members
ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR > Class Template Referenceabstract

Linear Measurement Model is an interface for linear measurement models most commonly used in practice. More...

#include <LinearMeasurementModel.h>

Inheritance diagram for ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >:
ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR > ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >

Public Types

using Base = MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >
 
using output_matrix_t = ct::core::OutputMatrix< OUTPUT_DIM, SCALAR >
 
using output_state_matrix_t = ct::core::OutputStateMatrix< OUTPUT_DIM, STATE_DIM, SCALAR >
 
using state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >
 
using output_vector_t = ct::core::OutputVector< OUTPUT_DIM, SCALAR >
 
using Time_t = ct::core::Time
 
- Public Types inherited from ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >
using state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >
 
using output_vector_t = ct::core::OutputVector< OUTPUT_DIM, SCALAR >
 
using Time_t = ct::core::Time
 

Public Member Functions

virtual output_vector_t computeMeasurement (const state_vector_t &state, const Time_t &t=0)=0
 Calculates the measurement from the current state. More...
 
virtual output_state_matrix_t computeDerivativeState (const state_vector_t &state, const Time_t &t)=0
 Computes the derivative of the output w.r.t. the state. More...
 
virtual output_matrix_t computeDerivativeNoise (const state_vector_t &state, const Time_t &t)=0
 Computes the derivative of the output w.r.t. the noise. More...
 
- Public Member Functions inherited from ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >
virtual ~MeasurementModelBase ()
 
virtual ct::core::OutputVector< OUTPUT_DIM, SCALAR > computeMeasurement (const ct::core::StateVector< STATE_DIM, SCALAR > &state, const ct::core::Time &t=0)=0
 

Detailed Description

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
class ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >

Linear Measurement Model is an interface for linear measurement models most commonly used in practice.

Template Parameters
STATE_DIMnominal state dimensionality
DIST_DIMdimensionality of the disturbance
CONTROL_DIM

Member Typedef Documentation

◆ Base

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
using ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::Base = MeasurementModelBase<OUTPUT_DIM, STATE_DIM, SCALAR>

◆ output_matrix_t

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
using ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::output_matrix_t = ct::core::OutputMatrix<OUTPUT_DIM, SCALAR>

◆ output_state_matrix_t

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
using ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::output_state_matrix_t = ct::core::OutputStateMatrix<OUTPUT_DIM, STATE_DIM, SCALAR>

◆ state_vector_t

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
using ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >::state_vector_t = ct::core::StateVector<STATE_DIM, SCALAR>

◆ output_vector_t

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
using ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >::output_vector_t = ct::core::OutputVector<OUTPUT_DIM, SCALAR>

◆ Time_t

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
using ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >::Time_t = ct::core::Time

Member Function Documentation

◆ computeMeasurement()

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
virtual output_vector_t ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::computeMeasurement ( const state_vector_t &  state,
const Time_t &  t = 0 
)
pure virtual

Calculates the measurement from the current state.

Implemented in ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >.

◆ computeDerivativeState()

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
virtual output_state_matrix_t ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::computeDerivativeState ( const state_vector_t &  state,
const Time_t &  t 
)
pure virtual

Computes the derivative of the output w.r.t. the state.

Implemented in ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >.

◆ computeDerivativeNoise()

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR = double>
virtual output_matrix_t ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::computeDerivativeNoise ( const state_vector_t &  state,
const Time_t &  t 
)
pure virtual

Computes the derivative of the output w.r.t. the noise.

Implemented in ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >.

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