Forward declaration of PlantModel. More...

#include <plant_model.hpp>

Public Types
using	StateSpace = linalg::remove_cvref_t< SS >

using	InputPortsT = linalg::remove_cvref_t< InputPorts >

using	OutputPortsT = linalg::remove_cvref_t< OutputPorts >

using	Model = PlantModel< StateSpace, InputPortsT, OutputPortsT >

using	T = plant_type_t< Model >

Public Member Functions
constexpr	PlantModel (const StateSpace &ss)
	Copy a state-space model using the template-specified layouts.

constexpr	PlantModel (const StateSpace &ss, const InputPortsT &, const OutputPortsT &)
	Copy a model with layout arguments supplied for type deduction.

constexpr auto	dynamics_matrix () const
	Return A (StateDim x StateDim), without changing the time domain.

constexpr auto	exogenous_matrix () const
	Return B_w (StateDim x ExogenousDim), for disturbance/reference/noise inputs.

constexpr auto	control_matrix () const
	Return B_u (StateDim x ControlDim), for actuator inputs.

constexpr auto	performance_matrix () const
	Return C_z (PerformanceDim x StateDim), for regulated outputs.

constexpr auto	measurement_matrix () const
	Return C_y (MeasurementDim x StateDim), for measured outputs.

template<PortRole OutRole, PortRole InRole>
constexpr auto	feedthrough () const
	Extract D blocks from the selected input role to output role.

Public Attributes
SS	state_space
	Owned full model; accessors reflect its current matrices.

Static Public Attributes
static constexpr std::size_t	StateDim = plant_traits<Model>::StateDim

static constexpr std::size_t	InputDim = plant_traits<Model>::InputDim

static constexpr std::size_t	OutputDim = plant_traits<Model>::OutputDim

Detailed Description

template<StateSpaceLike SS, typename InputPorts, typename OutputPorts>
struct control::PlantModel< SS, InputPorts, OutputPorts >

Forward declaration of PlantModel.

State-space model with compile-time input and output port roles.

The underlying equations are xdot = A*x + B*v (continuous) or x[k+1] = A*x[k] + B*v[k] (discrete), with o = C*x + D*v. Input ports identify exogenous channels w and control channels u in v; output ports identify performance channels z and measurements y in o. The full matrices retain their original channel ordering.

Each Port<Role, Offset, Size> selects a contiguous, zero-based range: inputs select B/D columns and outputs select C/D rows. Ranges must be nonempty, in bounds, and nonoverlapping within each layout; these checks occur at compile time. Layouts need not cover every channel. Callers choose appropriate input/output roles and satisfy each synthesis formulation's additional assumptions; this wrapper does not check stabilizability, detectability, or physical units.

Accessors concatenate matching ports in layout declaration order, not ascending matrix offset. A missing role produces a zero-width input matrix or zero-height output matrix. All returned matrices are values, not views. Layouts are types and require no runtime storage; state_space owns a copy of the supplied model, including its time domain and optional D matrix.

For a model with inputs [w, u] and outputs [z, y], one channel each:

using Inputs = PortLayout<Port<PortRole::EXOGENOUS, 0, 1>,
                          Port<PortRole::CONTROL, 1, 1>>;
using Outputs = PortLayout<Port<PortRole::PERFORMANCE, 0, 1>,
                           Port<PortRole::MEASUREMENT, 1, 1>>;
// SS has two input columns and two output rows.
const auto plant = PlantModel<SS, Inputs, Outputs>(ss);
const auto B_u = plant.control_matrix();
const auto D_yu = plant.feedthrough<PortRole::MEASUREMENT,
                                   PortRole::CONTROL>();

Template Parameters

SS	Continuous or discrete StateSpaceLike model.
InputPorts	PortLayout describing the full input axis.
OutputPorts	PortLayout describing the full output axis.

Definition at line 56 of file plant_model.hpp.

Member Typedef Documentation

◆ InputPortsT

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

using control::PlantModel< SS, InputPorts, OutputPorts >::InputPortsT = linalg::remove_cvref_t<InputPorts>

Definition at line 58 of file plant_model.hpp.

◆ Model

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

using control::PlantModel< SS, InputPorts, OutputPorts >::Model = PlantModel<StateSpace, InputPortsT, OutputPortsT>

Definition at line 60 of file plant_model.hpp.

◆ OutputPortsT

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

using control::PlantModel< SS, InputPorts, OutputPorts >::OutputPortsT = linalg::remove_cvref_t<OutputPorts>

Definition at line 59 of file plant_model.hpp.

◆ StateSpace

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

using control::PlantModel< SS, InputPorts, OutputPorts >::StateSpace = linalg::remove_cvref_t<SS>

Definition at line 57 of file plant_model.hpp.

◆ T

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

using control::PlantModel< SS, InputPorts, OutputPorts >::T = plant_type_t<Model>

Definition at line 61 of file plant_model.hpp.

Constructor & Destructor Documentation

◆ PlantModel() [1/2]

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr control::PlantModel< SS, InputPorts, OutputPorts >::PlantModel ( const StateSpace & ss )

inlineexplicitconstexpr

Copy a state-space model using the template-specified layouts.

Parameters

ss	Full model whose matrix ordering matches the port offsets.

Definition at line 75 of file plant_model.hpp.

◆ PlantModel() [2/2]

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr control::PlantModel< SS, InputPorts, OutputPorts >::PlantModel	(	const StateSpace &	ss,
		const InputPortsT &	,
		const OutputPortsT &
	)

inlineconstexpr

Copy a model with layout arguments supplied for type deduction.

Parameters

ss	Full state-space model. The layout arguments carry types only; no layout objects are stored.

Definition at line 81 of file plant_model.hpp.

Member Function Documentation

◆ control_matrix()

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr auto control::PlantModel< SS, InputPorts, OutputPorts >::control_matrix ( ) const

inlineconstexpr

Return B_u (StateDim x ControlDim), for actuator inputs.

Definition at line 95 of file plant_model.hpp.

References control::is_continuous_v.

◆ dynamics_matrix()

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr auto control::PlantModel< SS, InputPorts, OutputPorts >::dynamics_matrix ( ) const

inlineconstexpr

Return A (StateDim x StateDim), without changing the time domain.

Definition at line 86 of file plant_model.hpp.

References control::PlantModel< SS, InputPorts, OutputPorts >::state_space.

◆ exogenous_matrix()

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr auto control::PlantModel< SS, InputPorts, OutputPorts >::exogenous_matrix ( ) const

inlineconstexpr

Return B_w (StateDim x ExogenousDim), for disturbance/reference/noise inputs.

Definition at line 90 of file plant_model.hpp.

References control::is_continuous_v.

◆ feedthrough()

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

template<PortRole OutRole, PortRole InRole>

constexpr auto control::PlantModel< SS, InputPorts, OutputPorts >::feedthrough ( ) const

inlineconstexpr

Extract D blocks from the selected input role to output role.

Template Parameters

OutRole	Output role selecting rows in C/D.
InRole	Input role selecting columns in B/D.

Returns: Matrix with total_size<OutRole>() rows and total_size<InRole>() columns. Matching row/column blocks follow their respective layout order. If the model has no D, return zeros of the same shape. A missing role yields the corresponding zero dimension.

Definition at line 119 of file plant_model.hpp.

References control::is_continuous_v, and control::PlantModel< SS, InputPorts, OutputPorts >::state_space.

◆ measurement_matrix()

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr auto control::PlantModel< SS, InputPorts, OutputPorts >::measurement_matrix ( ) const

inlineconstexpr

Return C_y (MeasurementDim x StateDim), for measured outputs.

Definition at line 105 of file plant_model.hpp.

References control::is_continuous_v.

◆ performance_matrix()

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr auto control::PlantModel< SS, InputPorts, OutputPorts >::performance_matrix ( ) const

inlineconstexpr

Return C_z (PerformanceDim x StateDim), for regulated outputs.

Definition at line 100 of file plant_model.hpp.

References control::is_continuous_v.

Member Data Documentation

◆ InputDim

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr std::size_t control::PlantModel< SS, InputPorts, OutputPorts >::InputDim = plant_traits<Model>::InputDim

staticconstexpr

Definition at line 64 of file plant_model.hpp.

◆ OutputDim

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr std::size_t control::PlantModel< SS, InputPorts, OutputPorts >::OutputDim = plant_traits<Model>::OutputDim

staticconstexpr

Definition at line 65 of file plant_model.hpp.

◆ state_space

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

SS control::PlantModel< SS, InputPorts, OutputPorts >::state_space

Owned full model; accessors reflect its current matrices.

Definition at line 129 of file plant_model.hpp.

Referenced by control::PlantModel< SS, InputPorts, OutputPorts >::dynamics_matrix(), and control::PlantModel< SS, InputPorts, OutputPorts >::feedthrough().

◆ StateDim

template<StateSpaceLike SS, typename InputPorts , typename OutputPorts >

constexpr std::size_t control::PlantModel< SS, InputPorts, OutputPorts >::StateDim = plant_traits<Model>::StateDim

staticconstexpr

Definition at line 63 of file plant_model.hpp.

The documentation for this struct was generated from the following files:

include/akreon/control/control_traits.hpp
include/akreon/control/model/plant_model.hpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ InputPortsT

◆ Model

◆ OutputPortsT

◆ StateSpace

◆ T

Constructor & Destructor Documentation

◆ PlantModel() [1/2]

◆ PlantModel() [2/2]

Member Function Documentation

◆ control_matrix()

◆ dynamics_matrix()

◆ exogenous_matrix()

◆ feedthrough()

◆ measurement_matrix()

◆ performance_matrix()

Member Data Documentation

◆ InputDim

◆ OutputDim

◆ state_space

◆ StateDim