forward decl of state space More...

#include <state_space.hpp>

Public Types
using	Plant = linalg::remove_cvref_t< PlantIn >
	extract type and alias

using	Control = linalg::remove_cvref_t< ControlIn >

using	Output = linalg::remove_cvref_t< OutputIn >

using	T = linalg::matrix_scalar_t< Plant >

using	Feedthrough = linalg::Matrix< T, OutputRows, ControlCols >

using	State = linalg::Vector< T, PlantCols >
	state vector

using	Input = linalg::Vector< T, ControlCols >

Public Member Functions
constexpr	StateSpace (const Plant &A_in, const Control &B_in, const Output &C_in)
	CTOR.

constexpr	StateSpace (const Plant &A_in, const Control &B_in, const Output &C_in, const Feedthrough &D_in)
	CTOR.

constexpr auto	state_update (const State &x, const Input &u) const
	state_update

constexpr auto	output_map (const State &x, const Input &u) const
	output_map

Public Attributes
Plant	A
	member var

Control	B
	Control matrix.

Output	C
	Output matrix.

std::optional< Feedthrough >	D
	Feedthrough matrix.

Static Public Attributes
static constexpr std::size_t	PlantRows = linalg::mat_rows_v<Plant>

static constexpr std::size_t	PlantCols = linalg::mat_cols_v<Plant>

static constexpr std::size_t	ControlRows = linalg::mat_rows_v<Control>

static constexpr std::size_t	ControlCols = linalg::mat_cols_v<Control>

static constexpr std::size_t	OutputRows = linalg::mat_rows_v<Output>

static constexpr std::size_t	OutputCols = linalg::mat_cols_v<Output>

Detailed Description

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>
struct control::StateSpace< Type, PlantIn, ControlIn, OutputIn >

forward decl of state space

StateSpace.

\(\dot{x} = A x(t) + B u(t)\) \(y = C x(t) + D u(t)\)

Definition at line 20 of file state_space.hpp.

Member Typedef Documentation

◆ Control

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::Control = linalg::remove_cvref_t<ControlIn>

Definition at line 23 of file state_space.hpp.

◆ Feedthrough

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::Feedthrough = linalg::Matrix<T, OutputRows, ControlCols>

Definition at line 34 of file state_space.hpp.

◆ Input

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::Input = linalg::Vector<T, ControlCols>

Definition at line 41 of file state_space.hpp.

◆ Output

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::Output = linalg::remove_cvref_t<OutputIn>

Definition at line 24 of file state_space.hpp.

◆ Plant

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::Plant = linalg::remove_cvref_t<PlantIn>

extract type and alias

Definition at line 22 of file state_space.hpp.

◆ State

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::State = linalg::Vector<T, PlantCols>

state vector

Definition at line 40 of file state_space.hpp.

◆ T

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

using control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::T = linalg::matrix_scalar_t<Plant>

Definition at line 26 of file state_space.hpp.

Constructor & Destructor Documentation

◆ StateSpace() [1/2]

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::StateSpace	(	const Plant &	A_in,
		const Control &	B_in,
		const Output &	C_in
	)

inlineexplicitconstexpr

CTOR.

Parameters

A	(Plant)
B	(Control)
C	(Output)

Definition at line 50 of file state_space.hpp.

◆ StateSpace() [2/2]

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::StateSpace	(	const Plant &	A_in,
		const Control &	B_in,
		const Output &	C_in,
		const Feedthrough &	D_in
	)

inlineexplicitconstexpr

CTOR.

Parameters

A	(Plant)
B	(Control)
C	(Output)
D	(Feedthrough)

Definition at line 62 of file state_space.hpp.

Member Function Documentation

◆ output_map()

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr auto control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::output_map	(	const State &	x,
		const Input &	u
	)		const

inlineconstexpr

output_map

similar as plant_dynamics y = C x + D u

Parameters

x	(State)
u	(Input)

Returns: y

Definition at line 95 of file state_space.hpp.

References control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::C, control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::D, and control::is_continuous_v.

◆ state_update()

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr auto control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::state_update	(	const State &	x,
		const Input &	u
	)		const

inlineconstexpr

state_update

Discrete x_next = A x_k + B u_k

Continuous xdot = A x + B u

Parameters

x	(State)
u	(Input)

Returns: xdot or x_next

Definition at line 80 of file state_space.hpp.

References control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::A, control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::B, and control::is_continuous_v.

Member Data Documentation

◆ A

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

Plant control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::A

member var

Plant matrix

Definition at line 100 of file state_space.hpp.

Referenced by control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::state_update().

◆ B

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

Control control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::B

Control matrix.

Definition at line 101 of file state_space.hpp.

Referenced by control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::state_update().

◆ C

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

Output control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::C

Output matrix.

Definition at line 102 of file state_space.hpp.

Referenced by control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::output_map().

◆ ControlCols

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr std::size_t control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::ControlCols = linalg::mat_cols_v<Control>

staticconstexpr

Definition at line 30 of file state_space.hpp.

◆ ControlRows

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr std::size_t control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::ControlRows = linalg::mat_rows_v<Control>

staticconstexpr

Definition at line 29 of file state_space.hpp.

◆ D

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

std::optional<Feedthrough> control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::D

Feedthrough matrix.

Definition at line 103 of file state_space.hpp.

Referenced by control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::output_map().

◆ OutputCols

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr std::size_t control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::OutputCols = linalg::mat_cols_v<Output>

staticconstexpr

Definition at line 32 of file state_space.hpp.

◆ OutputRows

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr std::size_t control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::OutputRows = linalg::mat_rows_v<Output>

staticconstexpr

Definition at line 31 of file state_space.hpp.

◆ PlantCols

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr std::size_t control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::PlantCols = linalg::mat_cols_v<Plant>

staticconstexpr

Definition at line 28 of file state_space.hpp.

◆ PlantRows

template<TimeDomainType Type, linalg::SquareMatrix PlantIn, linalg::MatrixContainer ControlIn, linalg::MatrixContainer OutputIn>

constexpr std::size_t control::StateSpace< Type, PlantIn, ControlIn, OutputIn >::PlantRows = linalg::mat_rows_v<Plant>

staticconstexpr

Definition at line 27 of file state_space.hpp.

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

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ Control

◆ Feedthrough

◆ Input

◆ Output

◆ Plant

◆ State

◆ T

Constructor & Destructor Documentation

◆ StateSpace() [1/2]

◆ StateSpace() [2/2]

Member Function Documentation

◆ output_map()

◆ state_update()

Member Data Documentation

◆ A

◆ B

◆ C

◆ ControlCols

◆ ControlRows

◆ D

◆ OutputCols

◆ OutputRows

◆ PlantCols

◆ PlantRows