#include <nonlinear_benchmark_systems.h>

Inheritance diagram for corbo::SimplePendulum:

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...

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...

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...

void	setParameters (double mass, double length, double gravitation, double friction)

	SimplePendulum ()
	Default constructor. 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
double	_g = 9.81

double	_l = 0.34

double	_m = 0.205

double	_rho = 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

Definition at line 187 of file nonlinear_benchmark_systems.h.

Constructor & Destructor Documentation

◆ SimplePendulum()

corbo::SimplePendulum::SimplePendulum ( )

inline

Default constructor.

Definition at line 191 of file nonlinear_benchmark_systems.h.

Member Function Documentation

◆ dynamics()

void corbo::SimplePendulum::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 207 of file nonlinear_benchmark_systems.h.

◆ getInputDimension()

int corbo::SimplePendulum::getInputDimension ( ) const

inlineoverridevirtual

Return the plant input dimension (u)

Implements corbo::SystemDynamicsInterface.

Definition at line 202 of file nonlinear_benchmark_systems.h.

◆ getInstance()

Ptr corbo::SimplePendulum::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::SystemDynamicsInterface.

Definition at line 194 of file nonlinear_benchmark_systems.h.

◆ getStateDimension()

int corbo::SimplePendulum::getStateDimension ( ) const

inlineoverridevirtual

Return state dimension (x)

Implements corbo::SystemDynamicsInterface.

Definition at line 204 of file nonlinear_benchmark_systems.h.

◆ isContinuousTime()

bool corbo::SimplePendulum::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 197 of file nonlinear_benchmark_systems.h.

◆ isLinear()

bool corbo::SimplePendulum::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.