ct::optcon::example::SpringLoadedMass Class Reference

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

#include <SpringLoadedMass.h>

Inheritance diagram for ct::optcon::example::SpringLoadedMass:

Public Member Functions
	SpringLoadedMass ()
void	computeControlledDynamics (const core::StateVector< state_dim > &state, const core::Time &t, const core::ControlVector< control_dim > &control, core::StateVector< state_dim > &derivative) override
SpringLoadedMass *	clone () const override
Public Member Functions inherited from ct::core::ControlledSystem< 2, 1 >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	ControlledSystem (std::shared_ptr< ct::core::Controller< 2, 1, SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	ControlledSystem (const ControlledSystem &arg)
virtual	~ControlledSystem ()
void	setController (const std::shared_ptr< Controller< 2, 1, SCALAR >> &controller)
void	getController (std::shared_ptr< Controller< 2, 1, SCALAR >> &controller) const
std::shared_ptr< Controller< 2, 1, SCALAR > >	getController ()
virtual void	computeDynamics (const StateVector< 2, SCALAR > &state, const time_t &t, StateVector< 2, SCALAR > &derivative) override
virtual void	computeControlledDynamics (const StateVector< 2, SCALAR > &state, const time_t &t, const ControlVector< 1, SCALAR > &control, StateVector< 2, 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
Public Member Functions inherited from System< STATE_DIM, double >
	System (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)
	System (const System &other)
virtual	~System ()
virtual void	computeDynamics (const StateVector< STATE_DIM, double > &state, const time_t &t, StateVector< STATE_DIM, double > &derivative)=0
SYSTEM_TYPE	getType () const
virtual bool	isSymplectic () const

Static Public Attributes
static const size_t	state_dim = 2
static const size_t	control_dim = 1
static constexpr double	kStiffness = 10

Additional Inherited Members
Public Types inherited from ct::core::ControlledSystem< 2, 1 >
typedef std::shared_ptr< ControlledSystem< 2, 1, 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 System< STATE_DIM, double >
typedef double	time_t
Public Attributes inherited from ct::core::ControlledSystem< 2, 1 >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< 2, SCALAR >	Base
Public Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef SCALAR	S
Public Attributes inherited from System< STATE_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double	S
Protected Attributes inherited from ct::core::ControlledSystem< 2, 1 >
std::shared_ptr< Controller< 2, 1, SCALAR > >	controller_
ControlVector< 1, SCALAR >	controlAction_
Protected Attributes inherited from ct::core::System< STATE_DIM, SCALAR >
SYSTEM_TYPE	type_
Protected Attributes inherited from System< STATE_DIM, double >
SYSTEM_TYPE	type_

Detailed Description

Dynamics class for the GNMS unit test.

Constructor & Destructor Documentation

SpringLoadedMass()

ct::optcon::example::SpringLoadedMass::SpringLoadedMass ( )

inline

References SECOND_ORDER.

Referenced by clone().

Member Function Documentation

computeControlledDynamics()

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

inlineoverride

References kStiffness.

clone()

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

inlineoverridevirtual

Implements ct::core::ControlledSystem< 2, 1 >.

References SpringLoadedMass().

Member Data Documentation

state_dim

const size_t ct::optcon::example::SpringLoadedMass::state_dim = 2

static

control_dim

const size_t ct::optcon::example::SpringLoadedMass::control_dim = 1

static

kStiffness

constexpr double ct::optcon::example::SpringLoadedMass::kStiffness = 10

static

Referenced by computeControlledDynamics(), and ct::optcon::example::SpringLoadedMassLinear::getDerivativeState().

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

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