#include <system.h>

Inheritance diagram for gcop::System< T, _nx, _nu, _np >:

Collaboration diagram for gcop::System< T, _nx, _nu, _np >:

Public Types
typedef Matrix< double, _nx, 1 >	Vectornd
typedef Matrix< double, _nu, 1 >	Vectorcd
typedef Matrix< double, _np, 1 >	Vectormd
typedef Matrix< double, _nx, _nx >	Matrixnd
typedef Matrix< double, _nx, _nu >	Matrixncd
typedef Matrix< double, _nu, _nx >	Matrixcnd
typedef Matrix< double, _nu, _nu >	Matrixcd
typedef Matrix< double, _np, _np >	Matrixmd
typedef Matrix< double, _nx, _np >	Matrixnmd
typedef Matrix< double, _np, _nx >	Matrixmnd
Public Member Functions
	System (Manifold< T, _nx > &X, int nu=0, int np=0)
virtual double	Step (T &xb, double t, const T &xa, const Vectorcd &u, double h, const Vectormd p=0, Matrixnd A=0, Matrixncd B=0, Matrixnmd C=0)
virtual double	Step (T &xb, double t, const T &xa, const Vectorcd &u, double h, const Vectornd &w, const Vectormd p, Matrixnd A=0, Matrixncd B=0, Matrixnmd C=0, Matrixnd *D=0)
virtual double	Step (T &xb, const Vectorcd &u, double h, const Vectormd p=0, Matrixnd A=0, Matrixncd B=0, Matrixnmd C=0)
virtual double	Step (const Vectorcd &u, double h, const Vectormd p=0, Matrixnd A=0, Matrixncd B=0, Matrixnmd C=0)
virtual double	Step (T &xb, const Vectorcd &u, double h, const Vectornd &w, const Vectormd p=0, Matrixnd A=0, Matrixncd B=0, Matrixnmd C=0, Matrixnd *D=0)
virtual bool	Reset (const T &x, double t=0)
virtual void	Rec (T &x, double h)
virtual void	print (const T &x) const
virtual bool	Noise (Matrixnd &Q, double t, const T &x, const Vectorcd &u, double dt, const Vectormd *p=0)
virtual bool	NoiseMatrix (Matrixnd &Q, double t, const T &x, const Vectorcd &u, double h, const Vectormd *p=0)
virtual void	StateAndControlsToFlat (VectorXd &y, const T &x, const Vectorcd &u)
virtual void	FlatToStateAndControls (T &x, Vectorcd &u, const std::vector< VectorXd > &y)
Public Attributes
Manifold< T, _nx > &	X
	state manifold
Rn< _nu >	U
	control Euclidean manifold
Rn< _np >	P
	parameter Euclidean manifold
int	np
	Number of Parameters.
bool	internalState
	for some systems (in particular using Bullet) time-stepping is performed using the internal state rather than passing xa and t before each update. Thus in the Step() function xa and t are ignored and instead the internal (x, t) are used. This is false by default.
bool	affineNoise
	whether the noise w enters the dynamics in an affine way, i.e. as x = f(t, x, u, p) + H(t, x, u, p)*w
T	x
	Internal State of the system.
double	t
	Internal time of the system.

Detailed Description

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
class gcop::System< T, _nx, _nu, _np >

Control system interface for dynamic systems on manifolds. Defines the discrete dynamics and any structural/inertial system parameters such as body dimensions, mass matrices, etc...

Subclasses should provide implementation for the time-stepping Step function and optionally for process noise evolution

Authors: Marin Kobilarov marin(at)jhu.edu Gowtham Garimella

Member Typedef Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nu, _nu> gcop::System< T, _nx, _nu, _np >::Matrixcd

Reimplemented in gcop::Body3d< c >, gcop::Body3d< 4 >, and gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nu, _nx> gcop::System< T, _nx, _nu, _np >::Matrixcnd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _np, _np> gcop::System< T, _nx, _nu, _np >::Matrixmd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _np, _nx> gcop::System< T, _nx, _nu, _np >::Matrixmnd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nx, _nu> gcop::System< T, _nx, _nu, _np >::Matrixncd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nx, _nx> gcop::System< T, _nx, _nu, _np >::Matrixnd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nx, _np> gcop::System< T, _nx, _nu, _np >::Matrixnmd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nu, 1> gcop::System< T, _nx, _nu, _np >::Vectorcd

Reimplemented in gcop::Body2d< c >, gcop::Body3d< c >, gcop::Body3d< 4 >, and gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _np, 1> gcop::System< T, _nx, _nu, _np >::Vectormd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

typedef Matrix<double, _nx, 1> gcop::System< T, _nx, _nu, _np >::Vectornd

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

Constructor & Destructor Documentation

template<typename T, int _nx, int _nu, int _np>

gcop::System< T, _nx, _nu, _np >::System	(	Manifold< T, _nx > &	X,
		int	nu = `0`,
		int	np = `0`
	)

A system evolving on a state manifold manifold X with nu inputs and np parameters

Parameters:

X	state manifold
nu	number of control inputs
np	number of parameters
nw	number of noise parameters

Member Function Documentation

template<typename T, int _nx, int _nu, int _np>

void gcop::System< T, _nx, _nu, _np >::FlatToStateAndControls	(	T &	x,
		Vectorcd &	u,
		const std::vector< VectorXd > &	y
	)		`[virtual]`

Convert flat outputs and derivatives of flat outputs to the state and controls of the system.

Parameters:

y	given flat outputs and derivatives of flat outputs
x	generated state
u	generated controls

template<typename T, int _nx, int _nu, int _np>

bool gcop::System< T, _nx, _nu, _np >::Noise	(	Matrixnd &	Q,
		double	t,
		const T &	x,
		const Vectorcd &	u,
		double	dt,
		const Vectormd *	p = `0`
	)		`[virtual]`

For filtering purposes, it is often necessary to provide a discrete-time process noise covariance Q, typically used in linear error propagation according to P = A*P*A' + Q

Parameters:

Q	discrete-time process noise covariance
t	start time
x	start state
u	control
dt	time-step
p	parameter (optional)

Returns:: true if all arguments are feasible

template<typename T, int _nx, int _nu, int _np>

bool gcop::System< T, _nx, _nu, _np >::NoiseMatrix	(	Matrixnd &	Q,
		double	t,
		const T &	x,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p = `0`
	)		`[virtual]`

Noise in the system is modeled as x[i+1] = f(xi,ui,ti,p) + noisematrix(xi,ui,ti,p)*wi This function provides the necessary noise coefficient matrix

Parameters:

Q	provides the noise matrix
t	current time
x	current state
u	current control
h	time-step
p	parameter (optional)

Returns:: true if all arguments are feasible

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

virtual void gcop::System< T, _nx, _nu, _np >::print ( const T & x ) const [inline, virtual]

General print function to print the state

Reimplemented in gcop::Mbs.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

virtual void gcop::System< T, _nx, _nu, _np >::Rec	(	T &	x,
		double	h
	)		`[inline, virtual]`

Reconstruct the full state. Some states contain redundant parameters for efficiency and it is useful to reconstruct them to maintain a consisten state.

Parameters:

x	state
h	time-step

Reimplemented in gcop::Mbs.

template<typename T, int _nx, int _nu, int _np>

bool gcop::System< T, _nx, _nu, _np >::Reset	(	const T &	x,
		double	t = `0`
	)		`[virtual]`

Resets the internal state of the system to one specified

Parameters:

x	State to reset to
t	time to reset to (optional)

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T, int _nx, int _nu, int _np>

void gcop::System< T, _nx, _nu, _np >::StateAndControlsToFlat	(	VectorXd &	y,
		const T &	x,
		const Vectorcd &	u
	)		`[virtual]`

Convert a system state and controls to flat outputs for the system.

Parameters:

y	the generated flat outputs
x	given state
u	given controls

template<typename T, int _nx, int _nu, int _np>

double gcop::System< T, _nx, _nu, _np >::Step	(	T &	xb,
		double	t,
		const T &	xa,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p = `0`,
		Matrixnd *	A = `0`,
		Matrixncd *	B = `0`,
		Matrixnmd *	C = `0`
	)		`[virtual]`

Discrete dynamics update. The function computes the next system state xb given current state xa and applied forces u

Parameters:

xb	resulting state
t	current time
xa	current state
u	current control
h	step size
p	static parameters (optional)
A	jacobian w.r.t. x (optional)
B	jacobian w.r.t. u (optional)
C	jacobian w.r.t. p (optional)

template<typename T, int _nx, int _nu, int _np>

double gcop::System< T, _nx, _nu, _np >::Step	(	T &	xb,
		double	t,
		const T &	xa,
		const Vectorcd &	u,
		double	h,
		const Vectornd &	w,
		const Vectormd *	p,
		Matrixnd *	A = `0`,
		Matrixncd *	B = `0`,
		Matrixnmd *	C = `0`,
		Matrixnd *	D = `0`
	)		`[virtual]`

This is the master (the most general) Step function performing a discrete dynamics update. The function computes the next system state xb given current state xa, time t, applied forces u, parameters p, and noise w. This function calls the deterministic Step function as well as the NoiseMatrix function and combines the output to update the state: xb = f(t, xa, u, p) + H(t, xa, u, p)*w

Parameters:

xb	resulting state
t	current time
xa	current state
u	current control
h	step size
p	static parameters (optional, set to 0 to ignore)
w	noise
A	jacobian w.r.t. x (optional)
B	jacobian w.r.t. u (optional)
C	jacobian w.r.t. p (optional)
D	jacobian w.r.t. w (optional)

template<typename T, int _nx, int _nu, int _np>

double gcop::System< T, _nx, _nu, _np >::Step	(	T &	xb,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p = `0`,
		Matrixnd *	A = `0`,
		Matrixncd *	B = `0`,
		Matrixnmd *	C = `0`
	)		`[virtual]`

Discrete Dynamics Update. This function computes the next state xb using the internal input state x_int and applied forces u

Parameters:

xb	resulting state
t	current time
u	current control
h	step size
p	static parameters (optional)
A	jacobian w.r.t. x (optional)
B	jacobian w.r.t. u (optional)
C	jacobian w.r.t. p (optional)

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T, int _nx, int _nu, int _np>

double gcop::System< T, _nx, _nu, _np >::Step	(	const Vectorcd &	u,
		double	h,
		const Vectormd *	p = `0`,
		Matrixnd *	A = `0`,
		Matrixncd *	B = `0`,
		Matrixnmd *	C = `0`
	)		`[virtual]`

Discrete Dynamics update of internal state and no output

Parameters:

t	current time
u	current control
h	step size
p	static parameters (optional)
A	jacobian w.r.t. x (optional)
B	jacobian w.r.t. u (optional)
C	jacobian w.r.t. p (optional)

Reimplemented in gcop::System_extstep< T, _nx, _nu, _np >.

template<typename T, int _nx, int _nu, int _np>

double gcop::System< T, _nx, _nu, _np >::Step	(	T &	xb,
		const Vectorcd &	u,
		double	h,
		const Vectornd &	w,
		const Vectormd *	p = `0`,
		Matrixnd *	A = `0`,
		Matrixncd *	B = `0`,
		Matrixnmd *	C = `0`,
		Matrixnd *	D = `0`
	)		`[virtual]`

A version of most general step function with noise and internal state

Parameters:

xb	resulting state
u	current control
h	step size
w	noise of same size as state
p	static parameters (optional)
A	jacobian w.r.t. x (optional)
B	jacobian w.r.t. u (optional)
C	jacobian w.r.t. p (optional)
D	jacobian w.r.t w (optional)

Member Data Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

bool gcop::System< T, _nx, _nu, _np >::affineNoise

whether the noise w enters the dynamics in an affine way, i.e. as x = f(t, x, u, p) + H(t, x, u, p)*w

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

bool gcop::System< T, _nx, _nu, _np >::internalState

for some systems (in particular using Bullet) time-stepping is performed using the internal state rather than passing xa and t before each update. Thus in the Step() function xa and t are ignored and instead the internal (x, t) are used. This is false by default.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

int gcop::System< T, _nx, _nu, _np >::np

Number of Parameters.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

Rn<_np> gcop::System< T, _nx, _nu, _np >::P

parameter Euclidean manifold

Referenced by gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::LqSensorCost(), gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::LsSensorCost(), and gcop::MultiCost< T, _nx, _nu, _np >::MultiCost().

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

double gcop::System< T, _nx, _nu, _np >::t

Internal time of the system.

Referenced by gcop::Bulletrccar1::reset(), gcop::System_extstep< T, _nx, _nu, _np >::Reset(), gcop::Bulletrccar::Reset(), gcop::System_extstep< T, _nx, _nu, _np >::Step(), gcop::Bulletrccar::Step(), and gcop::Bulletrccar1::Step1().

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

Rn<_nu> gcop::System< T, _nx, _nu, _np >::U

control Euclidean manifold

Referenced by gcop::Bulletrccar::Bulletrccar(), gcop::Bulletrccar1::Bulletrccar1(), gcop::Ddp< T, nx, nu, np >::Ddp(), gcop::Docp< T, nx, nu, np >::Docp(), gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost(), gcop::MultiCost< T, _nx, _nu, _np >::MultiCost(), gcop::PDdp< T, n, c, np >::PDdp(), gcop::Rccar::Rccar(), gcop::Rccar1::Rccar1(), gcop::SDdp< T, nx, nu, np >::SDdp(), and gcop::SystemCe< T, n, c, np, ntp, Tc >::SystemCe().

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

Manifold<T, _nx>& gcop::System< T, _nx, _nu, _np >::X

state manifold

Referenced by gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::ConstraintCost(), gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >::ControllerTparam(), gcop::Ddp< T, nx, nu, np >::Ddp(), gcop::Docp< T, nx, nu, np >::Docp(), gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Doep(), gcop::KalmanPredictor< T, _nx, _nu, _np >::KalmanPredictor(), gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost(), gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::LqSensorCost(), gcop::MultiCost< T, _nx, _nu, _np >::MultiCost(), gcop::PDdp< T, n, c, np >::PDdp(), gcop::SDdp< T, nx, nu, np >::SDdp(), gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::UnscentedCorrector(), and gcop::UnscentedPredictor< T, _nx, _nu, _np >::UnscentedPredictor().

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>

T gcop::System< T, _nx, _nu, _np >::x

Internal State of the system.

Referenced by gcop::Rccar::FlatToStateAndControls(), gcop::Bulletrccar1::reset(), gcop::System_extstep< T, _nx, _nu, _np >::Reset(), gcop::Bulletrccar::Reset(), gcop::Bulletrccar::setinitialstate(), gcop::System_extstep< T, _nx, _nu, _np >::Step(), gcop::Bulletrccar::Step(), and gcop::Bulletrccar1::Step1().

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

lib/systems/system.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic> class gcop::System< T, _nx, _nu, _np >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic>
class gcop::System< T, _nx, _nu, _np >