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

#include <SpringLoadedMass.h>

Inheritance diagram for ct::optcon::example::SpringLoadedMassLinear:

Public Member Functions
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

SpringLoadedMassLinear *	clone () const override

Public Member Functions inherited from ct::core::LinearSystem< 2, 1 >
	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 Member Functions inherited from ControlledSystem< STATE_DIM, CONTROL_DIM, double >
	ControlledSystem (const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL)

	ControlledSystem (std::shared_ptr< ct::core::Controller< STATE_DIM, CONTROL_DIM, double >> 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, double >> &controller)

void	getController (std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double >> &controller) const

std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double > >	getController ()

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

virtual void	computeControlledDynamics (const StateVector< STATE_DIM, double > &state, const time_t &t, const ControlVector< CONTROL_DIM, double > &control, StateVector< STATE_DIM, double > &derivative)=0

ControlVector< CONTROL_DIM, double >	getLastControlAction ()

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

Public Attributes
state_matrix_t	A_

state_control_matrix_t	B_

Public Attributes inherited from ct::core::LinearSystem< 2, 1 >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ControlledSystem< 2, 1, 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

Public Attributes inherited from ControlledSystem< STATE_DIM, CONTROL_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef System< STATE_DIM, double >	Base

Public Attributes inherited from System< STATE_DIM, double >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef double	S

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::LinearSystem< 2, 1 >
typedef Base::time_t	time_t

typedef StateVector< 2, SCALAR >	state_vector_t

typedef ControlVector< 1, SCALAR >	control_vector_t

typedef StateMatrix< 2, SCALAR >	state_matrix_t

typedef StateControlMatrix< 2, 1, 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 Types inherited from ControlledSystem< STATE_DIM, CONTROL_DIM, double >
typedef std::shared_ptr< ControlledSystem< STATE_DIM, CONTROL_DIM, double > >	Ptr

typedef Base::time_t	time_t

Public Types inherited from System< STATE_DIM, double >
typedef double	time_t

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_

Protected Attributes inherited from ControlledSystem< STATE_DIM, CONTROL_DIM, double >
std::shared_ptr< Controller< STATE_DIM, CONTROL_DIM, double > >	controller_

ControlVector< CONTROL_DIM, double >	controlAction_

Protected Attributes inherited from System< STATE_DIM, double >
SYSTEM_TYPE	type_

Detailed Description

Linear system class for the GNMS unit test.

Member Function Documentation

◆ getDerivativeState()

const state_matrix_t& ct::optcon::example::SpringLoadedMassLinear::getDerivativeState	(	const core::StateVector< state_dim > &	x,
		const core::ControlVector< control_dim > &	u,
		const double	t = `0.0`
	)

inlineoverride

References ct::optcon::example::SpringLoadedMass::kStiffness.

◆ getDerivativeControl()

const state_control_matrix_t& ct::optcon::example::SpringLoadedMassLinear::getDerivativeControl	(	const core::StateVector< state_dim > &	x,
		const core::ControlVector< control_dim > &	u,
		const double	t = `0.0`
	)

inlineoverride

◆ clone()

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

inlineoverridevirtual

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

Member Data Documentation

◆ state_dim

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

static

◆ control_dim

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

static

◆ kStiffness

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

static

◆ A_

state_matrix_t ct::optcon::example::SpringLoadedMassLinear::A_

◆ B_

state_control_matrix_t ct::optcon::example::SpringLoadedMassLinear::B_

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

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getDerivativeState()

◆ getDerivativeControl()

◆ clone()

Member Data Documentation

◆ state_dim

◆ control_dim

◆ kStiffness

◆ A_

◆ B_