#include <RbdLinearizer.h>

Inheritance diagram for ct::rbd::RbdLinearizer< SYSTEM >:

Public Types
typedef std::shared_ptr< RbdLinearizer< SYSTEM > >	Ptr

typedef SYSTEM::SCALAR	SCALAR

typedef ct::core::SystemLinearizer< STATE_DIM, CONTROL_DIM, SCALAR >	Base

typedef ct::core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef ct::core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

typedef ct::core::StateMatrix< STATE_DIM, SCALAR >	state_matrix_t

typedef ct::core::StateControlMatrix< STATE_DIM, CONTROL_DIM, SCALAR >	state_control_matrix_t

Public Types inherited from ct::core::SystemLinearizer< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR >
typedef Base::time_t	time_t

typedef Base::state_vector_t	state_vector_t

typedef Base::control_vector_t	control_vector_t

typedef Base::state_matrix_t	state_matrix_t

typedef Base::state_control_matrix_t	state_control_matrix_t

typedef ControlledSystem< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR >	system_t

Public Types inherited from ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >
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
	RbdLinearizer (std::shared_ptr< SYSTEM > RBDSystem, bool doubleSidedDerivative=false)

	RbdLinearizer (const RbdLinearizer &arg)

virtual	~RbdLinearizer () override

RbdLinearizer< SYSTEM > *	clone () const override

const state_matrix_t &	getDerivativeState (const state_vector_t &x, const control_vector_t &u, const SCALAR t=0.0) override

const state_control_matrix_t &	getDerivativeControl (const state_vector_t &x, const control_vector_t &u, const SCALAR t=0.0) override

Public Member Functions inherited from ct::core::SystemLinearizer< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR >
	SystemLinearizer (std::shared_ptr< system_t > nonlinearSystem, bool doubleSidedDerivative=true)

	SystemLinearizer (const SystemLinearizer &arg)

virtual	~SystemLinearizer ()

SystemLinearizer< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR > *	clone () const override

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

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

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

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool	FLOATING_BASE = SYSTEM::Dynamics::FB

static const size_t	STATE_DIM = SYSTEM::STATE_DIM

static const size_t	CONTROL_DIM = SYSTEM::CONTROL_DIM

static const size_t	NJOINTS = SYSTEM::Dynamics::NJOINTS

Protected Types
typedef SYSTEM::Dynamics::ROBCOGEN::JSIM	jsim_t

Protected Attributes
std::shared_ptr< SYSTEM >	RBDSystem_

Eigen::LLT< typename jsim_t::MatrixType >	llt_

Protected Attributes inherited from ct::core::SystemLinearizer< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR >
std::shared_ptr< system_t >	nonlinearSystem_

DynamicsLinearizerNumDiff< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR, SYSTEM::SCALAR >	linearizer_

state_matrix_t	dFdx_

state_control_matrix_t	dFdu_

bool	isSecondOrderSystem_

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_

Additional Inherited Members
Public Attributes inherited from ct::core::SystemLinearizer< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef LinearSystem< SYSTEM::STATE_DIM, SYSTEM::CONTROL_DIM, SYSTEM::SCALAR >	Base

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

Member Typedef Documentation

◆ Ptr

template<class SYSTEM>

typedef std::shared_ptr<RbdLinearizer<SYSTEM> > ct::rbd::RbdLinearizer< SYSTEM >::Ptr

◆ SCALAR

template<class SYSTEM>

typedef SYSTEM::SCALAR ct::rbd::RbdLinearizer< SYSTEM >::SCALAR

◆ Base

template<class SYSTEM>

typedef ct::core::SystemLinearizer<STATE_DIM, CONTROL_DIM, SCALAR> ct::rbd::RbdLinearizer< SYSTEM >::Base

◆ state_vector_t

template<class SYSTEM>

typedef ct::core::StateVector<STATE_DIM, SCALAR> ct::rbd::RbdLinearizer< SYSTEM >::state_vector_t

◆ control_vector_t

template<class SYSTEM>

typedef ct::core::ControlVector<CONTROL_DIM, SCALAR> ct::rbd::RbdLinearizer< SYSTEM >::control_vector_t

◆ state_matrix_t

template<class SYSTEM>

typedef ct::core::StateMatrix<STATE_DIM, SCALAR> ct::rbd::RbdLinearizer< SYSTEM >::state_matrix_t

◆ state_control_matrix_t

template<class SYSTEM>

typedef ct::core::StateControlMatrix<STATE_DIM, CONTROL_DIM, SCALAR> ct::rbd::RbdLinearizer< SYSTEM >::state_control_matrix_t

◆ jsim_t

template<class SYSTEM>

typedef SYSTEM::Dynamics::ROBCOGEN::JSIM ct::rbd::RbdLinearizer< SYSTEM >::jsim_t

protected

Constructor & Destructor Documentation

◆ RbdLinearizer() [1/2]

template<class SYSTEM>

ct::rbd::RbdLinearizer< SYSTEM >::RbdLinearizer	(	std::shared_ptr< SYSTEM >	RBDSystem,
		bool	doubleSidedDerivative = `false`
	)

inline

◆ RbdLinearizer() [2/2]

template<class SYSTEM>

ct::rbd::RbdLinearizer< SYSTEM >::RbdLinearizer ( const RbdLinearizer< SYSTEM > & arg )

inline

◆ ~RbdLinearizer()

template<class SYSTEM>

virtual ct::rbd::RbdLinearizer< SYSTEM >::~RbdLinearizer ( )

inlineoverridevirtual

Member Function Documentation

◆ clone()

template<class SYSTEM>

RbdLinearizer<SYSTEM>* ct::rbd::RbdLinearizer< SYSTEM >::clone ( ) const

inlineoverridevirtual

Implements ct::core::LinearSystem< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ getDerivativeState()

template<class SYSTEM>

const state_matrix_t& ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t = `0.0`
	)

inlineoverride

References t, and ct::core::StateVector< STATE_DIM, SCALAR >::toImplementation().

Referenced by TEST().

◆ getDerivativeControl()

template<class SYSTEM>

const state_control_matrix_t& ct::rbd::RbdLinearizer< SYSTEM >::getDerivativeControl	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t = `0.0`
	)

inlineoverride

Referenced by TEST().

Member Data Documentation

◆ FLOATING_BASE

template<class SYSTEM>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const bool ct::rbd::RbdLinearizer< SYSTEM >::FLOATING_BASE = SYSTEM::Dynamics::FB

static

◆ STATE_DIM

template<class SYSTEM>

const size_t ct::rbd::RbdLinearizer< SYSTEM >::STATE_DIM = SYSTEM::STATE_DIM

static

◆ CONTROL_DIM

template<class SYSTEM>

const size_t ct::rbd::RbdLinearizer< SYSTEM >::CONTROL_DIM = SYSTEM::CONTROL_DIM

static

◆ NJOINTS

template<class SYSTEM>

const size_t ct::rbd::RbdLinearizer< SYSTEM >::NJOINTS = SYSTEM::Dynamics::NJOINTS

static

◆ RBDSystem_

template<class SYSTEM>

std::shared_ptr<SYSTEM> ct::rbd::RbdLinearizer< SYSTEM >::RBDSystem_

protected

◆ llt_

template<class SYSTEM>

Eigen::LLT<typename jsim_t::MatrixType> ct::rbd::RbdLinearizer< SYSTEM >::llt_

protected

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/systems/linear/RbdLinearizer.h

Public Types

Public Member Functions

Static Public Attributes

Protected Types

Protected Attributes

Additional Inherited Members

Member Typedef Documentation

◆ Ptr

◆ SCALAR

◆ Base

◆ state_vector_t

◆ control_vector_t

◆ state_matrix_t

◆ state_control_matrix_t

◆ jsim_t

Constructor & Destructor Documentation

◆ RbdLinearizer() [1/2]

◆ RbdLinearizer() [2/2]

◆ ~RbdLinearizer()

Member Function Documentation

◆ clone()

◆ getDerivativeState()

◆ getDerivativeControl()

Member Data Documentation

◆ FLOATING_BASE

◆ STATE_DIM

◆ CONTROL_DIM

◆ NJOINTS

◆ RBDSystem_

◆ llt_