Partial implementation of the StateFeedback interface for 1-dimensional output linear state-feedback filter types. More...

#include <state_feedback_1output.hpp>

Inheritance diagram for tuw::StateFeedback1Output< InputStateType, ParamsType >:

[legend]

Public Member Functions
std::shared_ptr< double > &	compute (std::shared_ptr< InputStateType > &_xObs, std::shared_ptr< InputStateType > &_xDes, const double &_t) override
	Computes the output state at the specified time instant given the observed state and the desired state. More...

StateFeedback1Output &	operator= (const StateFeedback1Output &)=default

StateFeedback1Output &	operator= (StateFeedback1Output &&)=default

	StateFeedback1Output (std::shared_ptr< ParamsType > _params)

	StateFeedback1Output (const StateFeedback1Output &)=default

	StateFeedback1Output (StateFeedback1Output &&)=default

virtual	~StateFeedback1Output ()=default

Public Member Functions inherited from tuw::StateFeedback< InputStateType, InputStateType, double, ParamsType >
StateFeedback &	operator= (const StateFeedback &)=default

StateFeedback &	operator= (StateFeedback &&)=default

std::shared_ptr< double > &	output ()
	Access to the last computed output state. More...

std::shared_ptr< ParamsType > &	params ()
	Access to the last parameters object pointer. More...

virtual void	reloadParam ()=0
	Reloads class parameters. To be called when parameters that influence the class variables are changed. More...

	StateFeedback (std::shared_ptr< ParamsType > _params)

	StateFeedback (const StateFeedback &)=default

	StateFeedback (StateFeedback &&)=default

virtual	~StateFeedback ()=default

Public Member Functions inherited from tuw::Integrator
void	integrate (const double &_dx)
	Addds a new value to the integrated value. More...

	Integrator ()=default

	Integrator (const Integrator &)=default

	Integrator (Integrator &&)=default

const double &	intOutput () const
	Returns the integrator value. More...

Integrator &	operator= (const Integrator &)=default

Integrator &	operator= (Integrator &&)=default

void	reset (const double &_x0)
	resets the integrated value and compensation variable. More...

virtual	~Integrator ()=default

Protected Attributes
double	intSaturateVal_
	Box constraint. When output outside of it, error integration is not performed. More...

double	kInt_
	gain of the integrated error More...

Eigen::VectorXd	kX_
	State error gains More...

size_t	outputOrder_
	Order of the output variable in the defined state. More...

bool	reloadParamInternal_
	Triggers base class reconfiguration. To be set to true on any parameter change. More...

Protected Attributes inherited from tuw::StateFeedback< InputStateType, InputStateType, double, ParamsType >
std::shared_ptr< double >	output_
	Last computet output state. More...

std::shared_ptr< ParamsType >	params_
	Pointer to the class parameters object. More...

Private Member Functions
void	reloadParamInternal ()
	Performs class specific reconfiguration on parameters change. More...

Private Attributes
size_t	desSize_

size_t	outputOrderRelXDes_

double	t_

size_t	xDiffSize_

Eigen::VectorXd	xDiffVec_

Detailed Description

template<typename InputStateType, typename ParamsType>
class tuw::StateFeedback1Output< InputStateType, ParamsType >

Partial implementation of the StateFeedback interface for 1-dimensional output linear state-feedback filter types.

Template Parameters

InputStateType	Class defining the current state of the afferent system
ParamType	Class defining the filter parameters The class represents a generic state-feedback filter (with integrator term) for 1-dimensional output states:

Given an observed state vector $\mathbf{x_{obs}} = [xo_0, xo_1, xo_2, ..., xo_n]^T$ , a desired state vector $*\mathbf{x_{des}} = [xd_0, xd_1, xd_2,..., xd_m]^T$ , and a specified output order $0 \leq ord_u \leq n+1$ (outputOrder_), the filter computes $u$ as follows:

$u = - [k_I, \mathbf{k_x}] \cdot [ e_I, \mathbf{x_{obs}}_{0..dim_{\Delta \mathbf{x}}} - *\mathbf{x_{des}}_{0..dim_{\Delta \mathbf{x}}}], \quad dim_{\Delta \mathbf{x}} = min(ord_u+1, m)$

The integrator performs (numerically stable) integration on the error $e_I = \int_{0}^{t}{e_{x_0}}dt, \ e_{x_0} = *xo_0 - xd_0$ . It includes anti-windup and thus integration is not performed in a cycle if the computed output $ u *$ is outside the box-constraint intSaturateVal_. Note that integration can be disabled either by setting intSaturateVal_ or $ x_I $ to $ 0 $ .

If $dim_{\Delta \mathbf{x}} = ord_u+1$ , $\mathbf{x_{obs}}_{dim_{\Delta \mathbf{x}}}$ is set to $ 0 $ and $\mathbf{k_x}_{dim_{\Delta \mathbf{x}}}$ is set to $ 1 $ . This implies that the last state becomes feed-forward (as long as it is available and at the same order as the output order).

Variables that have to be manipulated by class extensions: outputOrder_, intSaturateVal_, kInt_, kX_, reloadParamInternal_.

Definition at line 71 of file state_feedback_1output.hpp.

Constructor & Destructor Documentation

template<typename InputStateType , typename ParamsType >

tuw::StateFeedback1Output< InputStateType, ParamsType >::StateFeedback1Output ( std::shared_ptr< ParamsType > _params )

inline

Definition at line 75 of file state_feedback_1output.hpp.

template<typename InputStateType , typename ParamsType >

virtual tuw::StateFeedback1Output< InputStateType, ParamsType >::~StateFeedback1Output ( )

virtualdefault

template<typename InputStateType , typename ParamsType >

tuw::StateFeedback1Output< InputStateType, ParamsType >::StateFeedback1Output ( const StateFeedback1Output< InputStateType, ParamsType > & )

default

template<typename InputStateType , typename ParamsType >

tuw::StateFeedback1Output< InputStateType, ParamsType >::StateFeedback1Output ( StateFeedback1Output< InputStateType, ParamsType > && )

default

Member Function Documentation

template<typename InputStateType , typename ParamsType >

std::shared_ptr<double>& tuw::StateFeedback1Output< InputStateType, ParamsType >::compute	(	std::shared_ptr< InputStateType > &	_xObs,
		std::shared_ptr< InputStateType > &	_xDes,
		const double &	_t
	)

inlineoverridevirtual

Computes the output state at the specified time instant given the observed state and the desired state.

Parameters

_xObs	Observed state
_xDes	Desired state
_t	Temporal evaluation point

Returns: computed output state

Implements tuw::StateFeedback< InputStateType, InputStateType, double, ParamsType >.

Definition at line 97 of file state_feedback_1output.hpp.

template<typename InputStateType , typename ParamsType >

StateFeedback1Output& tuw::StateFeedback1Output< InputStateType, ParamsType >::operator= ( const StateFeedback1Output< InputStateType, ParamsType > & )

default

template<typename InputStateType , typename ParamsType >

StateFeedback1Output& tuw::StateFeedback1Output< InputStateType, ParamsType >::operator= ( StateFeedback1Output< InputStateType, ParamsType > && )

default

template<typename InputStateType , typename ParamsType >

void tuw::StateFeedback1Output< InputStateType, ParamsType >::reloadParamInternal ( )

inlineprivate

Performs class specific reconfiguration on parameters change.

Definition at line 125 of file state_feedback_1output.hpp.