System dynamics for a second order integrator (discrete-time) More...

#include <linear_benchmark_systems.h>

Inheritance diagram for corbo::DoubleIntegratorDiscreteTime:

Public Member Functions
	DoubleIntegratorDiscreteTime ()
	Default constructor. More...

void	dynamics (const Eigen::Ref< const StateVector > &x, const Eigen::Ref< const ControlVector > &u, Eigen::Ref< StateVector > f) const override
	Evaluate the system dynamics equation. More...

const double &	getDt () const
	Get current sampling time dt. More...

int	getInputDimension () const override
	Return the plant input dimension (u) More...

Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

int	getStateDimension () const override
	Return state dimension (x) More...

bool	isContinuousTime () const override
	Check if the system dynamics are defined in continuous-time. More...

bool	isLinear () const override
	Check if the system dynamics are linear. More...

void	setDt (double dt)
	Set sampling time dt. More...

Public Member Functions inherited from corbo::SystemDynamicsInterface
virtual double	getDeadTime () const
	Return deadtime which might be taken into account by controllers/simulators if supported. More...

virtual void	getLinearA (const StateVector &x0, const ControlVector &u0, Eigen::MatrixXd &A) const
	Return linear system matrix A (linearized system dynamics) More...

virtual void	getLinearB (const StateVector &x0, const ControlVector &u0, Eigen::MatrixXd &B) const
	Return linear control input matrix B (linearized system dynamics) More...

virtual void	reset ()

void	setLinearizationMethod (std::shared_ptr< FiniteDifferencesInterface > lin_method)
	Set linearization method in case getLinearA() or getLinearB() are not overriden. More...

	SystemDynamicsInterface ()
	Default constructor. More...

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

Private Attributes
double	_dt = 1.0

Additional Inherited Members
Public Types inherited from corbo::SystemDynamicsInterface
using	ControlVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< SystemDynamicsInterface >

using	StateVector = Eigen::VectorXd

Detailed Description

System dynamics for a second order integrator (discrete-time)

An 2nd-order discrete-time integrator chain is defiend as:

$x_{k+1} = \begin{bmatrix} 1 & dt \\ 0 & 1 \end{bmatrix} x_k + \begin{bmatrix} 0.5 dt^2 \\ 0 \end{bmatrix} u_k$

in which $ dt $ denotes the sampling time.

See also: SystemDynamicsInterface

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)

Definition at line 298 of file linear_benchmark_systems.h.

Constructor & Destructor Documentation

◆ DoubleIntegratorDiscreteTime()

corbo::DoubleIntegratorDiscreteTime::DoubleIntegratorDiscreteTime ( )

inline

Default constructor.

Definition at line 302 of file linear_benchmark_systems.h.

Member Function Documentation

◆ dynamics()

void corbo::DoubleIntegratorDiscreteTime::dynamics	(	const Eigen::Ref< const StateVector > &	x,
		const Eigen::Ref< const ControlVector > &	u,
		Eigen::Ref< StateVector >	f
	)		const

inlineoverridevirtual

Evaluate the system dynamics equation.

Implement this method to specify the actual system dynamics equation $\dot{x} = f(x,u)$ (continuous-time) or $x_{k+1} = f(x_k, u_k)$ (discrete-time).

Parameters

[in]	x	State vector x [getStateDimension() x 1]
[in]	u	Control input vector u [getInputDimension() x 1]
[out]	f	Resulting function value $\dot{x}$ respectively $x_{k+1}$ (f must be preallocated with dimension [getStateDimension() x 1])

Implements corbo::SystemDynamicsInterface.

Definition at line 318 of file linear_benchmark_systems.h.

◆ getDt()

const double& corbo::DoubleIntegratorDiscreteTime::getDt ( ) const

inline

Get current sampling time dt.

Definition at line 328 of file linear_benchmark_systems.h.

◆ getInputDimension()

int corbo::DoubleIntegratorDiscreteTime::getInputDimension ( ) const

inlineoverridevirtual

Return the plant input dimension (u)

Implements corbo::SystemDynamicsInterface.

Definition at line 313 of file linear_benchmark_systems.h.

◆ getInstance()

Ptr corbo::DoubleIntegratorDiscreteTime::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::SystemDynamicsInterface.

Definition at line 305 of file linear_benchmark_systems.h.

◆ getStateDimension()

int corbo::DoubleIntegratorDiscreteTime::getStateDimension ( ) const

inlineoverridevirtual

Return state dimension (x)

Implements corbo::SystemDynamicsInterface.

Definition at line 315 of file linear_benchmark_systems.h.

◆ isContinuousTime()

bool corbo::DoubleIntegratorDiscreteTime::isContinuousTime ( ) const

inlineoverridevirtual

Check if the system dynamics are defined in continuous-time.

Continous-time equations are defined as $\dot{x} = f(x,u)$ and discrete-time equations as $x_{k+1} = f(x_k,u_k)$ .

Returns: true if the system is specified in continuous time, false otherwise.

Implements corbo::SystemDynamicsInterface.

Definition at line 308 of file linear_benchmark_systems.h.

◆ isLinear()

bool corbo::DoubleIntegratorDiscreteTime::isLinear ( ) const

inlineoverridevirtual

Check if the system dynamics are linear.

Linear system can be written in the form $\dot{x} = Ax + Bu$ (continuous-time) or $x_{k+1} = A x_k + B u_k$ (discrete-time). Consequently, getLinearA() and getLinearB() are independet of x0 and u0.