Dynamics class for the GNMS unit test. More...

#include <MIMOIntegrator.h>

Inheritance diagram for ct::optcon::example::MIMOIntegrator< state_dim, control_dim >:

Public Member Functions
	MIMOIntegrator ()

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

MIMOIntegrator *	clone () const override

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 ()

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

Additional Inherited Members
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 Types inherited from ct::core::System< STATE_DIM, SCALAR >
typedef SCALAR	time_t

Public Attributes inherited from ct::core::ControlledSystem< state_dim, control_dim >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< state_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, control_dim >
std::shared_ptr< Controller< state_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>
class ct::optcon::example::MIMOIntegrator< state_dim, control_dim >

Dynamics class for the GNMS unit test.

Constructor & Destructor Documentation

◆ MIMOIntegrator()

template<size_t state_dim, size_t control_dim>

ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::MIMOIntegrator ( )

inline

References SECOND_ORDER.

Referenced by ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::clone().

Member Function Documentation

◆ computeControlledDynamics()

template<size_t state_dim, size_t control_dim>

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

inlineoverride

References ct::optcon::example::control_dim, i, and ct::optcon::example::state_dim.

◆ clone()

template<size_t state_dim, size_t control_dim>

MIMOIntegrator* ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::clone ( ) const

inlineoverridevirtual

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

References ct::optcon::example::MIMOIntegrator< state_dim, control_dim >::MIMOIntegrator().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/test/testSystems/MIMOIntegrator.h

Public Member Functions

Additional Inherited Members

Detailed Description

template<size_t state_dim, size_t control_dim> class ct::optcon::example::MIMOIntegrator< state_dim, control_dim >

Constructor & Destructor Documentation

◆ MIMOIntegrator()

Member Function Documentation

◆ computeControlledDynamics()

◆ clone()

template<size_t state_dim, size_t control_dim>
class ct::optcon::example::MIMOIntegrator< state_dim, control_dim >