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

#include <tparam.h>

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

List of all members.

Public Member Functions
	Tparam (System< T, nx, nu, np > &sys, int ntp=0)
virtual bool	To (Vectorntpd &s, const vector< double > &ts, const vector< T > &xs, const vector< Vectorcd > &us, const Vectormd *p=0)
virtual bool	From (vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, const Vectorntpd &s, Vectormd *p=0)
virtual bool	SetContext (const Tc &c)
Public Attributes
System< T, nx, nu, np > &	sys
	system
int	ntp
	parameter vector dimension

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Detailed Description

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

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, typename Tc >

gcop::Tparam< T, nx, nu, np, _ntp, Tc >::Tparam	(	System< T, nx, nu, np > &	sys,
		int	ntp = 0
	)

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Member Function Documentation

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

bool gcop::Tparam< T, nx, nu, np, _ntp, Tc >::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 in gcop::FlatOutputTparam< T, nx, nu, np, _ntp >, gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >, gcop::SplineTparam< T, nx, nu, np, _ntp >, and gcop::ControlTparam< T, nx, nu, np, _ntp >.

Referenced by gcop::SystemCe< T, n, c, np, ntp, Tc >::SystemCe().

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

virtual bool gcop::Tparam< T, nx, nu, np, _ntp, Tc >::SetContext

(

const Tc &

c

)

[inline, virtual]

Referenced by gcop::SystemCe< T, n, c, np, ntp, Tc >::SystemCe().

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

bool gcop::Tparam< T, nx, nu, np, _ntp, Tc >::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 in gcop::FlatOutputTparam< T, nx, nu, np, _ntp >, gcop::ControllerTparam< Tx, nx, nu, np, _ntp, Tc >, gcop::SplineTparam< T, nx, nu, np, _ntp >, and gcop::ControlTparam< T, nx, nu, np, _ntp >.

Referenced by gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::GnDocp(), and gcop::SystemCe< T, n, c, np, ntp, Tc >::SystemCe().

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Member Data Documentation

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

int gcop::Tparam< T, nx, nu, np, _ntp, Tc >::ntp

parameter vector dimension

Referenced by gcop::GnDocp< T, _nx, _nu, _np, _ng, _ntp >::GnDocp(), and gcop::SystemCe< T, n, c, np, ntp, Tc >::SystemCe().

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

System<T, nx, nu, np>& gcop::Tparam< T, nx, nu, np, _ntp, Tc >::sys

system

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

• lib/systems/parametrization/tparam.h