Dynamics class for the Diehl system. More...

#include <DiehlSystem.h>

Inheritance diagram for ct::optcon::example::DiehlSystem:

Public Member Functions
	DiehlSystem ()

void	computeControlledDynamics (const core::StateVector< 1 > &state, const core::Time &t, const core::ControlVector< 1 > &control, core::StateVector< 1 > &derivative) override

DiehlSystem *	clone () const override

Public Member Functions inherited from ct::core::ControlledSystem< 1, 1 >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (std::shared_ptr< ct::core::Controller< 1, 1, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (const ControlledSystem &arg)

virtual	~ControlledSystem ()

void	setController (const std::shared_ptr< Controller< 1, 1, SCALAR >> &controller)

void	getController (std::shared_ptr< Controller< 1, 1, SCALAR >> &controller) const

std::shared_ptr< Controller< 1, 1, SCALAR > >	getController ()

virtual void	computeDynamics (const StateVector< 1, SCALAR > &state, const time_t &t, StateVector< 1, SCALAR > &derivative) override

virtual void	computeControlledDynamics (const StateVector< 1, SCALAR > &state, const time_t &t, const ControlVector< 1, SCALAR > &control, StateVector< 1, SCALAR > &derivative)=0

ControlVector< 1, 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 const int	state_dim = 1

static const int	control_dim = 1

Additional Inherited Members
Public Types inherited from ct::core::ControlledSystem< 1, 1 >
typedef std::shared_ptr< ControlledSystem< 1, 1, SCALAR > >	Ptr

typedef Base::time_t	time_t

Public Types inherited from ct::core::System< STATE_DIM, SCALAR >
typedef SCALAR	time_t

Public Attributes inherited from ct::core::ControlledSystem< 1, 1 >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< 1, 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< 1, 1 >
std::shared_ptr< Controller< 1, 1, SCALAR > >	controller_

ControlVector< 1, SCALAR >	controlAction_

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

Detailed Description

Dynamics class for the Diehl system.

We named this system after Prof. Moritz Diehl from the University of Freiburg, who gave it to us as a simple 1-dimensional test system. The system dynamics are dx/dt = (1+x)x + u + 0.1

Constructor & Destructor Documentation

◆ DiehlSystem()

ct::optcon::example::DiehlSystem::DiehlSystem ( )

inline

References SECOND_ORDER.

Referenced by clone().

Member Function Documentation

◆ computeControlledDynamics()

void ct::optcon::example::DiehlSystem::computeControlledDynamics	(	const core::StateVector< 1 > &	state,
		const core::Time &	t,
		const core::ControlVector< 1 > &	control,
		core::StateVector< 1 > &	derivative
	)

inlineoverride

◆ clone()

DiehlSystem* ct::optcon::example::DiehlSystem::clone ( ) const

inlineoverridevirtual

Implements ct::core::ControlledSystem< 1, 1 >.

References DiehlSystem().

Member Data Documentation

◆ state_dim

const int ct::optcon::example::DiehlSystem::state_dim = 1

static

◆ control_dim

const int ct::optcon::example::DiehlSystem::control_dim = 1