Step Response Generator. More...

#include <step_response_generator.h>

Inheritance diagram for corbo::StepResponseGenerator:

Public Member Functions
void	getAvailableSignals (SignalTargetInterface &signal_target, const std::string &ns="") const override
	Retrieve available signals from the controller. More...

const Eigen::VectorXd &	getControl () const

int	getControlInputDimension () const override
	Return the control input dimension. More...

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

int	getStateDimension () const override
	Return the dimension of the required plant state/output. More...

bool	hasPiecewiseConstantControls () const override
	Return true if the controller returns piecewise constant control pieces. More...

bool	providesFutureControls () const override

bool	providesFutureStates () const override

void	reset () override
	Reset internal controller state and caches. More...

void	setControl (const Eigen::VectorXd &u_step)

void	setStateDimension (int state_dim)

bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, TimeSeries::Ptr u_sequence, TimeSeries::Ptr x_sequence, SignalTargetInterface signal_target=nullptr, ReferenceTrajectoryInterface sref=nullptr, ReferenceTrajectoryInterface xinit=nullptr, ReferenceTrajectoryInterface uinit=nullptr, const std::string &ns="") override

	StepResponseGenerator ()=default

Public Member Functions inherited from corbo::ControllerInterface
virtual double	getControlDuration () const
	Return the duration for which the control u obtained from step() is valid (useful for asynchronous control) More...

virtual ControllerStatistics::Ptr	getStatistics () const

virtual bool	initialize (const StateVector &x, ReferenceTrajectoryInterface &expected_xref, ReferenceTrajectoryInterface &expected_uref, const Duration &expected_dt, const Time &t, ReferenceTrajectoryInterface *expected_sref=nullptr)
	Initialize the controller. More...

virtual void	sendSignals (double t, SignalTargetInterface &signal_target, const std::string &ns="") const

virtual bool	step (const StateVector &x, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, const Duration &dt, const Time &t, ControlVector &u, SignalTargetInterface *signal_target=nullptr, const std::string &ns="")
	Perform actual controller step / control law computation. More...

virtual bool	supportsAsynchronousControl () const
	Specify whether the controllers step function is independent of dt and getControlDuration() returns a valid value. More...

virtual	~ControllerInterface ()
	Virtual destructor. More...

Static Public Member Functions
static Ptr	getInstanceStatic ()
	Return a newly created shared instance of the implemented class (static method) More...

Static Public Member Functions inherited from corbo::ControllerInterface
static Factory< ControllerInterface > &	getFactory ()
	Get access to the associated factory. More...

Private Attributes
int	_state_dim = 0

Eigen::VectorXd	_u

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

using	Ptr = std::shared_ptr< ControllerInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< ControllerInterface >

Detailed Description

Step Response Generator.

Generates a constant control input signal.

Remarks: The state dimension needs to be set using setStateDimension() due to compatibility purposes even if it is obsolete

See also: ControllerInterface

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 47 of file step_response_generator.h.

Constructor & Destructor Documentation

◆ StepResponseGenerator()

corbo::StepResponseGenerator::StepResponseGenerator ( )

default

Member Function Documentation

◆ getAvailableSignals()

void corbo::StepResponseGenerator::getAvailableSignals	(	SignalTargetInterface &	signal_target,
		const std::string &	ns = `""`
	)		const

inlineoverridevirtual

Retrieve available signals from the controller.

Register a-priori known signals at the signal target. Registration is optional. Note, during step() execution further signals might occur without registration (in case the they are not known in advance or the implementation lacks a proper registration).

Parameters

[in,out] signal_target Target for occuring signals [optional]

Reimplemented from corbo::ControllerInterface.

Definition at line 85 of file step_response_generator.h.

◆ getControl()

const Eigen::VectorXd& corbo::StepResponseGenerator::getControl ( ) const

inline

Definition at line 69 of file step_response_generator.h.

◆ getControlInputDimension()

int corbo::StepResponseGenerator::getControlInputDimension ( ) const

inlineoverridevirtual

Return the control input dimension.

Implements corbo::ControllerInterface.

Definition at line 53 of file step_response_generator.h.

◆ getInstance()

Ptr corbo::StepResponseGenerator::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::ControllerInterface.

Definition at line 64 of file step_response_generator.h.

◆ getInstanceStatic()

static Ptr corbo::StepResponseGenerator::getInstanceStatic ( )

inlinestatic

Return a newly created shared instance of the implemented class (static method)

Definition at line 66 of file step_response_generator.h.

◆ getStateDimension()

int corbo::StepResponseGenerator::getStateDimension ( ) const

inlineoverridevirtual

Return the dimension of the required plant state/output.

Depending on the controller type, the state dimension can also be just the plant output or the complete measured or observed state vector.

Returns: the controllers state dimension

Implements corbo::ControllerInterface.

Definition at line 55 of file step_response_generator.h.

◆ hasPiecewiseConstantControls()

bool corbo::StepResponseGenerator::hasPiecewiseConstantControls ( ) const

inlineoverridevirtual

Return true if the controller returns piecewise constant control pieces.

Returns: true if the controls are piecewise constant

Implements corbo::ControllerInterface.

Definition at line 57 of file step_response_generator.h.

◆ providesFutureControls()

bool corbo::StepResponseGenerator::providesFutureControls ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 59 of file step_response_generator.h.

◆ providesFutureStates()

bool corbo::StepResponseGenerator::providesFutureStates ( ) const

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 61 of file step_response_generator.h.

◆ reset()

void corbo::StepResponseGenerator::reset ( )

inlineoverridevirtual

Reset internal controller state and caches.

Implements corbo::ControllerInterface.

Definition at line 113 of file step_response_generator.h.

◆ setControl()

void corbo::StepResponseGenerator::setControl ( const Eigen::VectorXd & u_step )

inline

Definition at line 68 of file step_response_generator.h.

◆ setStateDimension()

void corbo::StepResponseGenerator::setStateDimension ( int state_dim )

inline

Definition at line 70 of file step_response_generator.h.

◆ step()

bool corbo::StepResponseGenerator::step	(	const StateVector &	x,
		ReferenceTrajectoryInterface &	xref,
		ReferenceTrajectoryInterface &	uref,
		const Duration &	dt,
		const Time &	t,
		TimeSeries::Ptr	u_sequence,
		TimeSeries::Ptr	x_sequence,
		SignalTargetInterface *	signal_target = `nullptr`,
		ReferenceTrajectoryInterface *	sref = `nullptr`,
		ReferenceTrajectoryInterface *	xinit = `nullptr`,
		ReferenceTrajectoryInterface *	uinit = `nullptr`,
		const std::string &	ns = `""`
	)

inlineoverridevirtual

Implements corbo::ControllerInterface.

Definition at line 73 of file step_response_generator.h.

Member Data Documentation

◆ _state_dim

int corbo::StepResponseGenerator::_state_dim = 0

private

Definition at line 117 of file step_response_generator.h.

◆ _u

Eigen::VectorXd corbo::StepResponseGenerator::_u

private

Definition at line 116 of file step_response_generator.h.

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

step_response_generator.h

Public Member Functions

Static Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StepResponseGenerator()

Member Function Documentation

◆ getAvailableSignals()

◆ getControl()

◆ getControlInputDimension()

◆ getInstance()

◆ getInstanceStatic()

◆ getStateDimension()

◆ hasPiecewiseConstantControls()

◆ providesFutureControls()

◆ providesFutureStates()

◆ reset()

◆ setControl()

◆ setStateDimension()

◆ step()

Member Data Documentation

◆ _state_dim

◆ _u