Linear system output function. More...

#include <output_function_interface.h>

Inheritance diagram for corbo::LinearStateSystemOutput:

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

const Eigen::MatrixXd &	getLinearMatrixC () const
	Get linear system matrix [SystemDynamicsInterface::getStateDimension() x getOutputDimension()]. More...

int	getOutputDimension () const override
	Get dimension of the system output y. More...

void	output (const StateVector &x, OutputVector &y) override
	Evaluate the system output equation. More...

void	setLinearMatrixC (const Eigen::Ref< const Eigen::MatrixXd > &matric_c)
	Set linear system matrix [SystemDynamicsInterface::getStateDimension() x getOutputDimension()]. More...

Public Member Functions inherited from corbo::SystemOutputInterface
virtual void	reset ()

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

Private Attributes
Eigen::MatrixXd	_mat_c

Additional Inherited Members
Public Types inherited from corbo::SystemOutputInterface
using	OutputVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< SystemOutputInterface >

using	StateVector = Eigen::VectorXd

Detailed Description

Linear system output function.

This output function is defined as $ y = C x $ with $ C $ as linear ouput matrix [SystemDynamicsInterface::getStateDimension() x getOutputDimension()].

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)

Todo:: Message import/output not yet implemented

Definition at line 201 of file output_function_interface.h.

Member Function Documentation

◆ getInstance()

Ptr corbo::LinearStateSystemOutput::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::SystemOutputInterface.

Definition at line 205 of file output_function_interface.h.

◆ getLinearMatrixC()

const Eigen::MatrixXd& corbo::LinearStateSystemOutput::getLinearMatrixC ( ) const

inline

Get linear system matrix [SystemDynamicsInterface::getStateDimension() x getOutputDimension()].

Definition at line 216 of file output_function_interface.h.

◆ getOutputDimension()

int corbo::LinearStateSystemOutput::getOutputDimension ( ) const

inlineoverridevirtual

Get dimension of the system output y.

Implements corbo::SystemOutputInterface.

Definition at line 207 of file output_function_interface.h.

◆ output()

void corbo::LinearStateSystemOutput::output	(	const StateVector &	x,
		OutputVector &	y
	)

inlineoverridevirtual

Evaluate the system output equation.

This method defines the mapping $c : \mathbb{R}^p \to \mathbb{R}^q$ with $ p $ as the dimension of the state vector x and $ q $ the dimension of the system output y.