Interface class for system output functions. More...
#include <output_function_interface.h>
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... | |
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
and hence maps the state vector of a SystemDynamicsInterface to the actual system output.
Definition at line 62 of file output_function_interface.h.
using corbo::SystemOutputInterface::OutputVector = Eigen::VectorXd |
Definition at line 68 of file output_function_interface.h.
using corbo::SystemOutputInterface::Ptr = std::shared_ptr<SystemOutputInterface> |
Definition at line 65 of file output_function_interface.h.
using corbo::SystemOutputInterface::StateVector = Eigen::VectorXd |
Definition at line 67 of file output_function_interface.h.
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virtualdefault |
Default destructor.
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pure virtual |
Return a newly created shared instance of the implemented class.
Implemented in corbo::LinearStateSystemOutput, corbo::LastStateSystemOutput, corbo::FirstStateSystemOutput, and corbo::FullStateSystemOutput.
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pure virtual |
Get dimension of the system output y.
Implemented in corbo::LinearStateSystemOutput, corbo::LastStateSystemOutput, corbo::FirstStateSystemOutput, and corbo::FullStateSystemOutput.
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pure virtual |
Evaluate the system output equation.
This method defines the mapping with
as the dimension of the state vector x and
the dimension of the system output y.
[in] | x | State vector [SystemDynamicsInterface::getStateDimension x 1] |
[out] | y | Output vector [getOutputDimension() x 1] |
Implemented in corbo::LinearStateSystemOutput, corbo::LastStateSystemOutput, corbo::FirstStateSystemOutput, and corbo::FullStateSystemOutput.
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inlinevirtual |
Definition at line 91 of file output_function_interface.h.