control_box_rst: Todo List

Class corbo::AlgebraicRiccatiContinuous

Add a method that determines if sufficient conditions hold and that (A,B) is stabilizable.

Add support for the more generalized Riccati equation (augmented by matrix S and E) E.g. Hamiltonian for augmentation with S: http://web.dcsc.tudelft.nl/~cscherer/books/thesis.pdf

Class corbo::AlgebraicRiccatiDiscrete

Add a method that determiens if sufficient conditions hold and that (A,B) is stabilizable.

Add support for the more generalized Riccati equation (augmented by matrix S and E) E.g. Hamiltonian for augmentation with S: http://web.dcsc.tudelft.nl/~cscherer/books/thesis.pdf

Class corbo::CommonSignalTarget

Add possibility to reserve space for data (e.g. for TimeSeries object)

Class corbo::Controllability

add stabilizability checks (https://de.mathworks.com/help/control/ref/stabsep.html)

Member corbo::FullDiscretizationGridBase::resampleTrajectory (int n_new)

(roesmann) More efficient strategy without copying containers at all?

Class corbo::gui::corboMainWindow

GUI code documentation

Class corbo::LinearStateSystemOutput

Message import/output not yet implemented

Class corbo::LyapunovContinuous

Add support for the generalized Lyapunov equations $ A X E^T + E X A^T + Q = 0 $ .

Allow the user to precompute the Schur decomposition for subsequent calls of solve() with varying $ Q $ .

Member corbo::LyapunovContinuous::solve (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::MatrixXd > &Q, Eigen::MatrixXd &X)

Reimplement using Real Schur form in order to improve efficiency (if suitable)

Class corbo::LyapunovDiscrete

Add support for the generalized Lyapunov equations $ A X A^T - E X E^T + Q = 0 $ .

Allow the user to precompute the Schur decomposition for subsequent calls of solve() with varying $ Q $ .

Class corbo::NumericalIntegratorExplicitInterface

This interface is not yet completed (messages, subclasses, ...)

Class corbo::PidController

Anti-windup implementation

Class corbo::ReferenceTrajectoryInterface

The interface is not yet completed/stable for non-static references, e.g. an appropriate pre-computation and time-shifting is not designed yet.

Member corbo::ShootingGridBase::resampleTrajectory (int n_new, NlpFunctions &nlp_fun)

(roesmann) More efficient strategy without copying containers at all?

Member corbo::SignalTargetInterface::sendTimeSeries (const std::string &unique_name, TimeSeries::Ptr time_series)

Make sure that everything is thread-safe if we forward a shared_ptr

Class corbo::SylvesterContinuous

Add support for the generalized Sylvester equations $ A X E^T + E X B + C = 0 $ .

Allow the user to precompute the Schur decomposition for subsequent calls of solve() with varying $ C $ .

Class corbo::SylvesterDiscrete

Add support for the generalized Sylvester equations $ A X A^T - E X E^T + C = 0 $ .

Allow the user to precompute the Schur decomposition for subsequent calls of solve() with varying $ C $ .

Class corbo::SystemOutputInterface

Check if we need getStateDimension() in this interface

Member Eigen::Transform< _Scalar, _Dim, _Mode, _Options >::Identity ()

In the future this function should be returning a Transform expression.

Member Eigen::umeyama (const MatrixBase< Derived > &src, const MatrixBase< OtherDerived > &dst, bool with_scaling=true)

Should the return type of umeyama() become a Transform?

Member GpuHelper::forceMatrixTarget (GLenum matrixTarget)

provides a debug mode checking the sanity of the cached matrix mode.