gcop::System_extstep< T, _nx, _nu, _np > Class Template Reference

#include <system_extstep.h>

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

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

List of all members.

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_extstep (Manifold< T, _nx > &X, int nu, Func_type steparg, resetFuncType resetarg=NULL)
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, bool reset=false)
double	Step (const Vectorcd &u, double h, const Vectormd *p, Matrixnd *A, Matrix< double, _nx, _nu > *B, Matrix< double, _nx, _np > *C)
double	Step (T &xb, const Vectorcd &u, double h, const Vectormd *p, Matrixnd *A, Matrix< double, _nx, _nu > *B, Matrix< double, _nx, _np > *C)
bool	Reset (const T &x, double t=0)

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

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Member Typedef Documentation

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

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Constructor & Destructor Documentation

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

gcop::System_extstep< T, _nx, _nu, _np >::System_extstep	(	Manifold< T, _nx > &	X,
		int	nu,
		Func_type	steparg,
		resetFuncType	resetarg = NULL
	)		[inline]

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Member Function Documentation

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

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

Resets the internal state of the system to one specified

Parameters:

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

Reimplemented from gcop::System< T, _nx, _nu, _np >.

References gcop::System< T, _nx, _nu, _np >::t, and gcop::System< T, _nx, _nu, _np >::x.

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

double gcop::System_extstep< 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,
		bool	reset = false
	)		[inline]

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

double gcop::System_extstep< T, _nx, _nu, _np >::Step	(	const Vectorcd &	u,
		double	h,
		const Vectormd *	p,
		Matrixnd *	A,
		Matrix< double, _nx, _nu > *	B,
		Matrix< double, _nx, _np > *	C
	)		[inline, 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 from gcop::System< T, _nx, _nu, _np >.

References gcop::System< T, _nx, _nu, _np >::t, and gcop::System< T, _nx, _nu, _np >::x.

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

double gcop::System_extstep< T, _nx, _nu, _np >::Step	(	T &	xb,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p,
		Matrixnd *	A,
		Matrix< double, _nx, _nu > *	B,
		Matrix< double, _nx, _np > *	C
	)		[inline, 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 from gcop::System< T, _nx, _nu, _np >.

References gcop::System< T, _nx, _nu, _np >::t, and gcop::System< T, _nx, _nu, _np >::x.

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

• lib/systems/system_extstep.h