Public Member Functions | Protected Member Functions | Protected Attributes

Stores a DifferentialEquation together with an OutputFcn. More...

#include <dynamic_system.hpp>

List of all members.

Public Member Functions

returnValue addSubsystem (const DifferentialEquation &_diffEqn)
returnValue addSubsystem (const DifferentialEquation &_diffEqn, const OutputFcn &_outputFcn)
returnValue addSwitchFunction (const Function &_switchFcn)
 DynamicSystem ()
 DynamicSystem (const DifferentialEquation &_diffEqn)
 DynamicSystem (const DifferentialEquation &_diffEqn, const OutputFcn &_outputFcn)
 DynamicSystem (const DynamicSystem &rhs)
const DifferentialEquationgetDifferentialEquation (uint stageIdx=0) const
uint getNumAlgebraicEquations () const
uint getNumControls () const
uint getNumDisturbances () const
uint getNumDynamicEquations () const
uint getNumOutputs () const
uint getNumParameters () const
uint getNumSubsystems () const
uint getNumSwitchFunctions () const
const OutputFcngetOutputFcn (uint stageIdx=0) const
double getSampleTime () const
returnValue getSelectFunction (Function &_selectFcn) const
returnValue getSubsystem (uint stageIdx, DifferentialEquation &_diffEqn, OutputFcn &_outputFcn) const
returnValue getSwitchFunction (uint idx, Function &_switchFcn) const
BooleanType hasImplicitSwitches () const
BooleanType isContinuous () const
BooleanType isDAE () const
BooleanType isDiscretized () const
BooleanType isODE () const
DynamicSystemoperator= (const DynamicSystem &rhs)
returnValue setSelectFunction (const Function &_selectFcn)
 ~DynamicSystem ()

Protected Member Functions

BooleanType isConsistentDiffEqn (const DifferentialEquation &_diffEqn) const
BooleanType isConsistentOutputFcn (const OutputFcn &_outputFcn) const

Protected Attributes

DifferentialEquation ** diffEqn
uint nDiffEqn
uint nSwitchFcn
OutputFcn ** outputFcn
FunctionselectFcn
Function ** switchFcn

Detailed Description

Stores a DifferentialEquation together with an OutputFcn.

The class DynamicSystem is a data class for storing a DifferentialEquation together with an OutputFcn. The dynamic system might be of hybrid nature, i.e. differential equation and output function might switch depending on a state-dependend switch function.

Author:
Hans Joachim Ferreau, Boris Houska

Definition at line 57 of file dynamic_system.hpp.


Constructor & Destructor Documentation

< Default Constructor.

Definition at line 44 of file dynamic_system.cpp.

Constructor which takes differential equation of first stage.

Parameters:
[in]_diffEqnDifferential equation.

Definition at line 57 of file dynamic_system.cpp.

DynamicSystem::DynamicSystem ( const DifferentialEquation _diffEqn,
const OutputFcn _outputFcn 
)

Constructor which takes differential equation and output function of first stage.

Parameters:
[in]_diffEqnDifferential equation.
[in]_outputFcnOutput function.

Definition at line 76 of file dynamic_system.cpp.

Copy constructor (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 94 of file dynamic_system.cpp.

Destructor. Assignment Operator (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 136 of file dynamic_system.cpp.


Member Function Documentation

Adds a new dynamic system stage comprising the given differential equation.

Parameters:
[in]_diffEqnDifferential equation.
Returns:
RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

Definition at line 237 of file dynamic_system.cpp.

returnValue DynamicSystem::addSubsystem ( const DifferentialEquation _diffEqn,
const OutputFcn _outputFcn 
)

Adds a new dynamic system stage comprising the given differential equation and output function.

Parameters:
[in]_diffEqnDifferential equation.
[in]_outputFcnOutput function.
Returns:
RET_NOT_YET_IMPLEMENTED,
RET_INVALID_ARGUMENTS

Definition at line 244 of file dynamic_system.cpp.

(not yet documented)

Parameters:
[in]_switchFcn.
Returns:
RET_NOT_YET_IMPLEMENTED

Definition at line 268 of file dynamic_system.cpp.

const DifferentialEquation& DynamicSystem::getDifferentialEquation ( uint  stageIdx = 0) const [inline]

Returns differential equation at given stage.

Parameters:
[in]stageIdxIndex of stage.
Returns:
Differential equation at given stage

Returns number of algebraic equations of the dynamic system.

Returns:
Number of algebraic equations
uint DynamicSystem::getNumControls ( ) const [inline]

Returns maximum number of controls of the dynamic system.

Returns:
Maximum number of controls

Returns maximum number of disturbances of the dynamic system.

Returns:
Maximum number of disturbances

Returns number of dynamic equations of the dynamic system.

Returns:
Number of dynamic equations
uint DynamicSystem::getNumOutputs ( ) const [inline]

Returns number of outputs of the dynamic system.

Returns:
Number of outputs equations

Returns maximum number of parameters of the dynamic system.

Returns:
Maximum number of parameters

Returns number of subsystems (i.e. stages) of the dynamic system.

Returns:
Number of subsystems of the dynamic system

Returns number of switch functions of the dynamic system.

Returns:
Number of switch functions of the dynamic system
const OutputFcn& DynamicSystem::getOutputFcn ( uint  stageIdx = 0) const [inline]

Returns output function at given stage.

Parameters:
[in]stageIdxIndex of stage.
Returns:
Output function at given stage
double DynamicSystem::getSampleTime ( ) const [inline]

Returns sample time of the dynamic system.

Returns:
> 0: sample time of discretized system,
-INFTY: system is time-continuous
returnValue DynamicSystem::getSelectFunction ( Function _selectFcn) const [inline]

(not yet documented)

Parameters:
[in]_selectFcn.
Returns:
RET_NOT_YET_IMPLEMENTED
returnValue DynamicSystem::getSubsystem ( uint  stageIdx,
DifferentialEquation _diffEqn,
OutputFcn _outputFcn 
) const [inline]

Returns dynamic subsystem at given stage.

Parameters:
[in]stageIdxIndex of stage.
[out]_diffEqnDifferential equation at given stage.
[out]_outputFcnOutput function at given stage.
Returns:
SUCCESSFUL_RETURN
returnValue DynamicSystem::getSwitchFunction ( uint  idx,
Function _switchFcn 
) const [inline]

(not yet documented)

Parameters:
[in]_switchFcn.
Returns:
RET_NOT_YET_IMPLEMENTED

Returns whether dynamic system has implicit switches.

Returns:
BT_TRUE iff dynamic system has implicit switches,
BT_FALSE otherwise
BooleanType DynamicSystem::isConsistentDiffEqn ( const DifferentialEquation _diffEqn) const [protected]

Returns whether given differential equation is consistent with the existing ones at other stages.

Parameters:
[in]_diffEqnDifferential equation.
Returns:
BT_TRUE iff differential equation is consistent,
BT_FALSE otherwise

Definition at line 300 of file dynamic_system.cpp.

BooleanType DynamicSystem::isConsistentOutputFcn ( const OutputFcn _outputFcn) const [protected]

Returns whether given output function is consistent with the corresponding differential equation and existing output functions at other stages.

Parameters:
[in]_outputFcnOutput function.
Returns:
BT_TRUE iff output function is consistent,
BT_FALSE otherwise

Definition at line 319 of file dynamic_system.cpp.

Returns whether dynamic system is continuous in time.

Returns:
BT_TRUE iff dynamic system is continuous in time,
BT_FALSE otherwise
BooleanType DynamicSystem::isDAE ( ) const [inline]

Returns whether dynamic system is a DAE.

Returns:
BT_TRUE iff dynamic system is a DAE,
BT_FALSE otherwise

Returns whether dynamic system is discretized in time.

Returns:
BT_TRUE iff dynamic system is discretized in time,
BT_FALSE otherwise
BooleanType DynamicSystem::isODE ( ) const [inline]

Returns whether dynamic system is an ODE.

Returns:
BT_TRUE iff dynamic system is an ODE,
BT_FALSE otherwise
DynamicSystem & DynamicSystem::operator= ( const DynamicSystem rhs)

Definition at line 164 of file dynamic_system.cpp.

(not yet documented)

Parameters:
[in]_selectFcn.
Returns:
RET_NOT_YET_IMPLEMENTED

Definition at line 282 of file dynamic_system.cpp.


Member Data Documentation

Differential equation(s) describing the states of the dynamic system.

Definition at line 331 of file dynamic_system.hpp.

Number of differential equations.

Definition at line 328 of file dynamic_system.hpp.

Number of switch functions.

Definition at line 329 of file dynamic_system.hpp.

Output function(s) for evaluating the output of the dynamic system.

Definition at line 332 of file dynamic_system.hpp.

Function for selecting the current differential equation based on the values of the switch function(s).

Definition at line 335 of file dynamic_system.hpp.

Function(s) for determining switches between different differential equations.

Definition at line 334 of file dynamic_system.hpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:23