Linear system class for the GNMS unit test. More...

#include <MIMOIntegrator.h>

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

Public Types
using	BASE = core::LinearSystem< state_dim, control_dim >

typedef BASE::state_matrix_t	state_matrix_t

typedef BASE::state_control_matrix_t	state_control_matrix_t

Public Types inherited from ct::core::LinearSystem< state_dim, control_dim >
typedef Base::time_t	time_t

typedef StateVector< state_dim, SCALAR >	state_vector_t

typedef ControlVector< control_dim, SCALAR >	control_vector_t

typedef StateMatrix< state_dim, SCALAR >	state_matrix_t

typedef StateControlMatrix< state_dim, control_dim, SCALAR >	state_control_matrix_t

Public Types inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
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 Member Functions
	MIMOIntegratorLinear ()

const state_matrix_t &	getDerivativeState (const core::StateVector< state_dim > &x, const core::ControlVector< control_dim > &u, const double t=0.0) override

const state_control_matrix_t &	getDerivativeControl (const core::StateVector< state_dim > &x, const core::ControlVector< control_dim > &u, const double t=0.0) override

MIMOIntegratorLinear *	clone () const override

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

virtual	~LinearSystem ()

virtual void	computeControlledDynamics (const state_vector_t &state, const time_t &t, const control_vector_t &control, state_vector_t &derivative) override

virtual const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0

virtual const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))=0

virtual void	getDerivatives (state_matrix_t &A, state_control_matrix_t &B, const state_vector_t &x, const control_vector_t &u, const time_t t=time_t(0.0))

Public Member Functions inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
	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

Public Attributes
state_matrix_t	A_

state_control_matrix_t	B_

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

Public Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
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

Additional Inherited Members
Protected Attributes inherited from ct::core::ControlledSystem< STATE_DIM, CONTROL_DIM, SCALAR >
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