Interface class for system output functions. More...

#include <output_function_interface.h>

Inheritance diagram for corbo::SystemOutputInterface:

[legend]

Public Types
using	OutputVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< SystemOutputInterface >

using	StateVector = Eigen::VectorXd

Public Member Functions
virtual Ptr	getInstance () const =0
	Return a newly created shared instance of the implemented class. More...

virtual int	getOutputDimension () const =0
	Get dimension of the system output y. More...

virtual void	output (const StateVector &x, OutputVector &y)=0
	Evaluate the system output equation. More...

virtual void	reset ()

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

Detailed Description

Interface class for system output functions.

This class specifies methods that are required to be implemented by specific subclasses in order to allow their general utilization in a variety of control tasks.

A system output is defined by an algebraic equation

$y = c(x)$

and hence maps the state vector of a SystemDynamicsInterface to the actual system output.

Remarks: This interface is provided with factory support (OutputFunctionFactory).

See also: SystemDynamicsInterface PlantInterface

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)

Todo:: Check if we need getStateDimension() in this interface

Definition at line 62 of file output_function_interface.h.

Member Typedef Documentation

◆ OutputVector

using corbo::SystemOutputInterface::OutputVector = Eigen::VectorXd

Definition at line 68 of file output_function_interface.h.

◆ Ptr

using corbo::SystemOutputInterface::Ptr = std::shared_ptr<SystemOutputInterface>

Definition at line 65 of file output_function_interface.h.

◆ StateVector

using corbo::SystemOutputInterface::StateVector = Eigen::VectorXd

Definition at line 67 of file output_function_interface.h.

Constructor & Destructor Documentation

◆ ~SystemOutputInterface()

virtual corbo::SystemOutputInterface::~SystemOutputInterface ( )

virtualdefault

Default destructor.

Member Function Documentation

◆ getInstance()

virtual Ptr corbo::SystemOutputInterface::getInstance ( ) const

pure virtual

Return a newly created shared instance of the implemented class.

Implemented in corbo::LinearStateSystemOutput, corbo::LastStateSystemOutput, corbo::FirstStateSystemOutput, and corbo::FullStateSystemOutput.

◆ getOutputDimension()

virtual int corbo::SystemOutputInterface::getOutputDimension ( ) const

pure virtual

Get dimension of the system output y.

Implemented in corbo::LinearStateSystemOutput, corbo::LastStateSystemOutput, corbo::FirstStateSystemOutput, and corbo::FullStateSystemOutput.

◆ output()

virtual void corbo::SystemOutputInterface::output	(	const StateVector &	x,
		OutputVector &	y
	)

pure virtual

Evaluate the system output equation.

This method defines the mapping $c : \mathbb{R}^p \to \mathbb{R}^q$ with $ p $ as the dimension of the state vector x and $ q $ the dimension of the system output y.