gcop::ControlTparam< T, nx, nu, np, _ntp > Class Template Reference

#include <controltparam.h>

Inheritance diagram for gcop::ControlTparam< T, nx, nu, np, _ntp >:

Collaboration diagram for gcop::ControlTparam< T, nx, nu, np, _ntp >:

List of all members.

Public Member Functions
	ControlTparam (System< T, nx, nu, np > &sys, const vector< double > &ts)
bool	To (Vectorntpd &s, const vector< double > &ts, const vector< T > &xs, const vector< Vectorcd > &us, const Vectormd *p=0)
bool	From (vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, const Vectorntpd &s, Vectormd *p=0)
Public Attributes
const vector< double > &	tks
	knot times

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Detailed Description

template<typename T, int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic>
class gcop::ControlTparam< T, nx, nu, np, _ntp >

General trajectory parametrization functionality. A trajectory can be parametrizes using a set of discrete controls, a continuous control paramertization, a set of discrete states, a set of discrete flat outputs, etc...

The default implementation is the simplest: a set of discrete controls

Author: Marin Kobilarov (c) 2005--2013

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Constructor & Destructor Documentation

template<typename T , int nx, int nu, int np, int _ntp>

gcop::ControlTparam< T, nx, nu, np, _ntp >::ControlTparam	(	System< T, nx, nu, np > &	sys,
		const vector< double > &	ts
	)

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Member Function Documentation

template<typename T , int nx, int nu, int np, int _ntp>

bool gcop::ControlTparam< T, nx, nu, np, _ntp >::From	(	vector< double > &	ts,
		vector< T > &	xs,
		vector< Vectorcd > &	us,
		const Vectorntpd &	s,
		Vectormd *	p = 0
	)		[virtual]

Convert from trajectory (ts,xs,us,p) to parameters s

Parameters:

ts	times
xs	states
us	controls
s	trajectory parametrization vector
p	system parameters (optional)

Returns:

true if conversion was successful

Reimplemented from gcop::Tparam< T, nx, nu, np, _ntp >.

template<typename T , int nx, int nu, int np, int _ntp>

bool gcop::ControlTparam< T, nx, nu, np, _ntp >::To	(	Vectorntpd &	s,
		const vector< double > &	ts,
		const vector< T > &	xs,
		const vector< Vectorcd > &	us,
		const Vectormd *	p = 0
	)		[virtual]

Convert from paramer s to trajectory (ts,xs,us,p)

Parameters:

s	trajectory parametrization vector
ts	times
xs	states
us	controls
p	system parameters (optional)

Returns:

true if conversion was successful

Reimplemented from gcop::Tparam< T, nx, nu, np, _ntp >.

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Member Data Documentation

template<typename T , int nx = Dynamic, int nu = Dynamic, int np = Dynamic, int _ntp = Dynamic>

const vector<double>& gcop::ControlTparam< T, nx, nu, np, _ntp >::tks

knot times

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

• lib/systems/parametrization/controltparam.h