System dynamics for a series of integrators (continuous-time) More...

#include <linear_benchmark_systems.h>

Inheritance diagram for corbo::SerialIntegratorSystem:

Public Member Functions
void	dynamics (const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override
	Evaluate the system dynamics equation. More...

const int &	getDimension () const
	Get current integrator chain dimension / order of the system. More...

int	getInputDimension () const override
	Return the plant input dimension (u) More...

Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

int	getStateDimension () const override
	Return state dimension (x) More...

const double &	getTimeConstant () const
	Get time constant T of the integrator. More...

bool	isContinuousTime () const override
	Check if the system dynamics are defined in continuous-time. More...

bool	isLinear () const override
	Check if the system dynamics are linear. More...

	SerialIntegratorSystem ()
	Default constructor (do not forget to set the dimension) More...

	SerialIntegratorSystem (int dimension)
	Construct ingerator system with given order/dimension. More...

void	setDimension (int dim)
	Set integrator dimension (p >= 1) More...

void	setTimeConstant (double time_constant)
	Set Time constant T of the integrator. More...

Public Member Functions inherited from corbo::SystemDynamicsInterface
virtual double	getDeadTime () const
	Return deadtime which might be taken into account by controllers/simulators if supported. More...

virtual void	getLinearA (const StateVector &x0, const ControlVector &u0, Eigen::MatrixXd &A) const
	Return linear system matrix A (linearized system dynamics) More...

virtual void	getLinearB (const StateVector &x0, const ControlVector &u0, Eigen::MatrixXd &B) const
	Return linear control input matrix B (linearized system dynamics) More...

virtual void	reset ()

void	setLinearizationMethod (std::shared_ptr< FiniteDifferencesInterface > lin_method)
	Set linearization method in case getLinearA() or getLinearB() are not overriden. More...

	SystemDynamicsInterface ()
	Default constructor. More...

virtual	~SystemDynamicsInterface ()=default
	Default destructor. More...

Private Attributes
int	_dimension = 1

double	_time_constant = 1.0

Additional Inherited Members
Public Types inherited from corbo::SystemDynamicsInterface
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< SystemDynamicsInterface >

using	StateVector = Eigen::VectorXd

Detailed Description

System dynamics for a series of integrators (continuous-time)

An continuous-time integrator chain of order $ p $ is defiend as:

$T x^{(p)} = u$

in which superscript $ (p) $ defines the p-th derivative of x w.r.t. time. $ T $ denotes a time constant.

See also: SystemDynamicsInterface

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 50 of file linear_benchmark_systems.h.

Constructor & Destructor Documentation

◆ SerialIntegratorSystem() [1/2]

corbo::SerialIntegratorSystem::SerialIntegratorSystem ( )

inline

Default constructor (do not forget to set the dimension)

Definition at line 54 of file linear_benchmark_systems.h.

◆ SerialIntegratorSystem() [2/2]

corbo::SerialIntegratorSystem::SerialIntegratorSystem ( int dimension )

inlineexplicit

Construct ingerator system with given order/dimension.

Definition at line 56 of file linear_benchmark_systems.h.

Member Function Documentation

◆ dynamics()

void corbo::SerialIntegratorSystem::dynamics	(	const Eigen::Ref< const StateVector > &	x,
		const Eigen::Ref< const ControlVector > &	u,
		Eigen::Ref< StateVector >	f
	)		const

inlineoverridevirtual

Evaluate the system dynamics equation.

Implement this method to specify the actual system dynamics equation $\dot{x} = f(x,u)$ (continuous-time) or $x_{k+1} = f(x_k, u_k)$ (discrete-time).

Parameters

[in]	x	State vector x [getStateDimension() x 1]
[in]	u	Control input vector u [getInputDimension() x 1]
[out]	f	Resulting function value $\dot{x}$ respectively $x_{k+1}$ (f must be preallocated with dimension [getStateDimension() x 1])

Implements corbo::SystemDynamicsInterface.

Definition at line 72 of file linear_benchmark_systems.h.

◆ getDimension()

const int& corbo::SerialIntegratorSystem::getDimension ( ) const

inline

Get current integrator chain dimension / order of the system.

Definition at line 87 of file linear_benchmark_systems.h.

◆ getInputDimension()

int corbo::SerialIntegratorSystem::getInputDimension ( ) const

inlineoverridevirtual

Return the plant input dimension (u)

Implements corbo::SystemDynamicsInterface.

Definition at line 67 of file linear_benchmark_systems.h.

◆ getInstance()

Ptr corbo::SerialIntegratorSystem::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::SystemDynamicsInterface.

Definition at line 59 of file linear_benchmark_systems.h.

◆ getStateDimension()

int corbo::SerialIntegratorSystem::getStateDimension ( ) const

inlineoverridevirtual

Return state dimension (x)

Implements corbo::SystemDynamicsInterface.

Definition at line 69 of file linear_benchmark_systems.h.

◆ getTimeConstant()

const double& corbo::SerialIntegratorSystem::getTimeConstant ( ) const

inline

Get time constant T of the integrator.

Definition at line 91 of file linear_benchmark_systems.h.

◆ isContinuousTime()

bool corbo::SerialIntegratorSystem::isContinuousTime ( ) const

inlineoverridevirtual

Check if the system dynamics are defined in continuous-time.

Continous-time equations are defined as $\dot{x} = f(x,u)$ and discrete-time equations as $x_{k+1} = f(x_k,u_k)$ .

Returns: true if the system is specified in continuous time, false otherwise.

Implements corbo::SystemDynamicsInterface.

Definition at line 62 of file linear_benchmark_systems.h.

◆ isLinear()

bool corbo::SerialIntegratorSystem::isLinear ( ) const

inlineoverridevirtual

Check if the system dynamics are linear.

Linear system can be written in the form $\dot{x} = Ax + Bu$ (continuous-time) or $x_{k+1} = A x_k + B u_k$ (discrete-time). Consequently, getLinearA() and getLinearB() are independet of x0 and u0.

Returns: true if the system behavior is linear, false otherwise.

Implements corbo::SystemDynamicsInterface.

Definition at line 64 of file linear_benchmark_systems.h.

◆ setDimension()

void corbo::SerialIntegratorSystem::setDimension ( int dim )

inline

Set integrator dimension (p >= 1)

Definition at line 89 of file linear_benchmark_systems.h.

◆ setTimeConstant()

void corbo::SerialIntegratorSystem::setTimeConstant ( double time_constant )

inline

Set Time constant T of the integrator.

Definition at line 93 of file linear_benchmark_systems.h.

Member Data Documentation

◆ _dimension

int corbo::SerialIntegratorSystem::_dimension = 1

private

Definition at line 115 of file linear_benchmark_systems.h.

◆ _time_constant

double corbo::SerialIntegratorSystem::_time_constant = 1.0

private

Definition at line 116 of file linear_benchmark_systems.h.

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

linear_benchmark_systems.h

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SerialIntegratorSystem() [1/2]

◆ SerialIntegratorSystem() [2/2]

Member Function Documentation

◆ dynamics()

◆ getDimension()

◆ getInputDimension()

◆ getInstance()

◆ getStateDimension()

◆ getTimeConstant()

◆ isContinuousTime()

◆ isLinear()

◆ setDimension()

◆ setTimeConstant()

Member Data Documentation

◆ _dimension

◆ _time_constant