corbo::OneStepPredictor Class Reference

OneStepPredictor. More...

#include <one_step_predictor.h>

Public Types
using	ControlVector = Eigen::VectorXd
using	StateVector = Eigen::VectorXd

Public Member Functions
double	getDeadTime ()
bool	initialize ()
	initialize the predictor More...
	OneStepPredictor ()=default
	Default constructor. More...
void	predict (const Eigen::Ref< const StateVector > &x0, std::vector< std::pair< double, ControlVector >> u_seq, double dt, Eigen::Ref< StateVector > x1)
	Predict x1 using t0, x0, u and dt (alias between x0 and x1 allowed) More...
void	setIntegrator (NumericalIntegratorExplicitInterface::Ptr integrator)
	Set a numerical integrator for continuous-time dynamics. More...
void	setSystemDynamics (SystemDynamicsInterface::Ptr dynamics)
	Set the system dynamics of the simulated plant. More...

Private Attributes
SystemDynamicsInterface::Ptr	_dynamics
bool	_initialized = false
NumericalIntegratorExplicitInterface::Ptr	_integrator

Detailed Description

OneStepPredictor.

Predict plant output for a single step, e.g. useful for CPU compenation in MPC control.

Author

Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 49 of file one_step_predictor.h.

Member Typedef Documentation

ControlVector

using corbo::OneStepPredictor::ControlVector = Eigen::VectorXd

Definition at line 53 of file one_step_predictor.h.

StateVector

using corbo::OneStepPredictor::StateVector = Eigen::VectorXd

Definition at line 52 of file one_step_predictor.h.

Constructor & Destructor Documentation

OneStepPredictor()

corbo::OneStepPredictor::OneStepPredictor ( )

default

Default constructor.

Member Function Documentation

getDeadTime()

double corbo::OneStepPredictor::getDeadTime

(

)

Definition at line 31 of file one_step_predictor.cpp.

initialize()

bool corbo::OneStepPredictor::initialize

(

)

initialize the predictor

Definition at line 33 of file one_step_predictor.cpp.

predict()

void corbo::OneStepPredictor::predict	(	const Eigen::Ref< const StateVector > &	x0,
		std::vector< std::pair< double, ControlVector >>	u_seq,
		double	dt,
		Eigen::Ref< StateVector >	x1
	)

Predict x1 using t0, x0, u and dt (alias between x0 and x1 allowed)

Definition at line 42 of file one_step_predictor.cpp.

setIntegrator()

void corbo::OneStepPredictor::setIntegrator ( NumericalIntegratorExplicitInterface::Ptr  integrator )

inline

Set a numerical integrator for continuous-time dynamics.

Definition at line 69 of file one_step_predictor.h.

setSystemDynamics()

void corbo::OneStepPredictor::setSystemDynamics

(

SystemDynamicsInterface::Ptr

dynamics

)

Set the system dynamics of the simulated plant.

Definition at line 80 of file one_step_predictor.cpp.

Member Data Documentation

_dynamics

SystemDynamicsInterface::Ptr corbo::OneStepPredictor::_dynamics

private

Definition at line 79 of file one_step_predictor.h.

_initialized

bool corbo::OneStepPredictor::_initialized = false

private

Definition at line 82 of file one_step_predictor.h.

_integrator

NumericalIntegratorExplicitInterface::Ptr corbo::OneStepPredictor::_integrator

private

Definition at line 80 of file one_step_predictor.h.

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

• one_step_predictor.h
• one_step_predictor.cpp