Dynamics class for the GNMS unit test, slightly nonlinear dynamics. More...

#include <DiehlSystem.h>

Inheritance diagram for ct::optcon::example::Dynamics:

Public Member Functions
	Dynamics ()

void	computeControlledDynamics (const StateVector< state_dim > &state, const Time &t, const ControlVector< control_dim > &control, StateVector< state_dim > &derivative) override

Dynamics *	clone () const override

	Dynamics ()

void	computePdot (const StateVector< 2 > &x, const StateVector< 1 > &v, const ControlVector< 1 > &control, StateVector< 1 > &pDot) override

virtual void	computeVdot (const StateVector< 2 > &x, const StateVector< 1 > &p, const ControlVector< 1 > &control, StateVector< 1 > &vDot) override

Dynamics *	clone () const override

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

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

	SymplecticSystem (const SymplecticSystem &arg)

virtual	~SymplecticSystem ()

virtual bool	isSymplectic () const override

virtual void	computeControlledDynamics (const StateVector< 1+1, SCALAR > &state, const time_t &t, const ControlVector< control_dim, SCALAR > &control, StateVector< 1+1, SCALAR > &derivative) override

void	computePdot (const StateVector< 1+1, SCALAR > &x, const StateVector< 1, SCALAR > &v, StateVector< 1, SCALAR > &pDot)

virtual void	computePdot (const StateVector< 1+1, SCALAR > &x, const StateVector< 1, SCALAR > &v, const ControlVector< control_dim, SCALAR > &control, StateVector< 1, SCALAR > &pDot)=0

void	computeVdot (const StateVector< 1+1, SCALAR > &x, const StateVector< 1, SCALAR > &p, StateVector< 1, SCALAR > &vDot)

virtual void	computeVdot (const StateVector< 1+1, SCALAR > &x, const StateVector< 1, SCALAR > &p, const ControlVector< control_dim, SCALAR > &control, StateVector< 1, SCALAR > &vDot)=0

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

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

	ControlledSystem (const ControlledSystem &arg)

virtual	~ControlledSystem ()

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

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

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

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

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

Public Member Functions inherited from ct::core::ControlledSystem< state_dim, control_dim >
	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 ()

Additional Inherited Members
Public Types inherited from ct::core::SymplecticSystem< 1, 1, control_dim >
typedef Base::time_t	time_t

Public Types inherited from ct::core::ControlledSystem< 1+1, control_dim, SCALAR >
typedef std::shared_ptr< ControlledSystem< 1+1, 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 Types inherited from ct::core::ControlledSystem< state_dim, control_dim >
typedef std::shared_ptr< ControlledSystem< state_dim, control_dim, SCALAR > >	Ptr

typedef Base::time_t	time_t

Public Attributes inherited from ct::core::SymplecticSystem< 1, 1, control_dim >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< 1+1, control_dim, SCALAR >	Base

Public Attributes inherited from ct::core::ControlledSystem< 1+1, control_dim, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< 1+1, SCALAR >	Base

Public Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SCALAR	S

Public Attributes inherited from ct::core::ControlledSystem< state_dim, control_dim >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< state_dim, SCALAR >	Base

Protected Attributes inherited from ct::core::ControlledSystem< 1+1, control_dim, SCALAR >
std::shared_ptr< Controller< 1+1, control_dim, SCALAR > >	controller_

ControlVector< control_dim, SCALAR >	controlAction_

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

Protected Attributes inherited from ct::core::ControlledSystem< state_dim, control_dim >
std::shared_ptr< Controller< state_dim, control_dim, SCALAR > >	controller_

ControlVector< control_dim, SCALAR >	controlAction_

Detailed Description

Dynamics class for the GNMS unit test, slightly nonlinear dynamics.

Dynamics class for the GNMS unit test.

Constructor & Destructor Documentation

◆ Dynamics() [1/2]

ct::optcon::example::Dynamics::Dynamics ( )

inline

References SECOND_ORDER.

◆ Dynamics() [2/2]

ct::optcon::example::Dynamics::Dynamics ( )

inline

References SECOND_ORDER.

Member Function Documentation

◆ computeControlledDynamics()

void ct::optcon::example::Dynamics::computeControlledDynamics	(	const StateVector< state_dim > &	state,
		const Time &	t,
		const ControlVector< control_dim > &	control,
		StateVector< state_dim > &	derivative
	)

inlineoverride

◆ clone() [1/2]

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

inlineoverridevirtual

Implements ct::core::ControlledSystem< state_dim, control_dim >.

◆ computePdot()

void ct::optcon::example::Dynamics::computePdot	(	const StateVector< 2 > &	x,
		const StateVector< 1 > &	v,
		const ControlVector< 1 > &	control,
		StateVector< 1 > &	pDot
	)

inlineoverride

◆ computeVdot()

virtual void ct::optcon::example::Dynamics::computeVdot	(	const StateVector< 2 > &	x,
		const StateVector< 1 > &	p,
		const ControlVector< 1 > &	control,
		StateVector< 1 > &	vDot
	)

inlineoverridevirtual

◆ clone() [2/2]

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

inlineoverridevirtual

Implements ct::core::ControlledSystem< state_dim, control_dim >.

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/test/nloc/nonlinear/DiehlSystem.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/test/nloc/SymplecticTest.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Dynamics() [1/2]

◆ Dynamics() [2/2]

Member Function Documentation

◆ computeControlledDynamics()

◆ clone() [1/2]

◆ computePdot()

◆ computeVdot()

◆ clone() [2/2]