State-space model. More...

#include <StateSpaceModel.h>

Inheritance diagram for CCC::StateSpaceModel< StateDim, InputDim, OutputDim >:

[legend]

Public Types
using	StateDimVector = Eigen::Matrix< double, StateDim, 1 >
	Type of state vector. More...

using	InputDimVector = Eigen::Matrix< double, InputDim, 1 >
	Type of input vector. More...

using	OutputDimVector = Eigen::Matrix< double, OutputDim, 1 >
	Type of output vector. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	StateSpaceModel (int state_dim=StateDim, int input_dim=InputDim, int output_dim=OutputDim)
	Constructor. More...

virtual	~StateSpaceModel ()=default
	Destructor. More...

int	stateDim () const
	Gets the state dimension. More...

int	inputDim () const
	Gets the input dimension. More...

int	outputDim () const
	Gets the output dimension. More...

StateDimVector	stateEq (const StateDimVector &x, const InputDimVector &u) const
	Calculate the continuous state equation. More...

StateDimVector	stateEqDisc (const StateDimVector &x, const InputDimVector &u) const
	Calculate the discrete state equation. More...

OutputDimVector	observEq (const StateDimVector &x) const
	Calculate the observation equation. More...

OutputDimVector	observEq (const StateDimVector &x, const InputDimVector &u) const
	Calculate the observation equation. More...

void	calcDiscMatrix (double dt)
	Calculate the discrete system matrices \(\boldsymbol{A}_d, \boldsymbol{B}_d, \boldsymbol{e}_d\). More...

Public Attributes
const int	state_dim_ = 0
	State dimension. More...

const int	input_dim_ = 0
	Input dimension. More...

const int	output_dim_ = 0
	Output dimension. More...

Eigen::Matrix< double, StateDim, StateDim >	A_
	Matrix \(\boldsymbol{A}\) of continuous state equation. More...

Eigen::Matrix< double, StateDim, InputDim >	B_
	Matrix \(\boldsymbol{B}\) of continuous state equation. More...

Eigen::Matrix< double, OutputDim, StateDim >	C_
	Matrix \(\boldsymbol{C}\) of observation equation. More...

Eigen::Matrix< double, OutputDim, InputDim >	D_
	Matrix \(\boldsymbol{D}\) of observation equation. More...

StateDimVector	E_
	Offset vector \(\boldsymbol{e}\) of continuous state equation. More...

OutputDimVector	F_
	Offset vector \(\boldsymbol{f}\) of observation equation. More...

double	dt_ = 0
	Discretization timestep [sec] (zero if discrete coefficients are not initialized) More...

Eigen::Matrix< double, StateDim, StateDim >	Ad_
	Matrix \(\boldsymbol{A}_d\) of discrete state equation. More...

Eigen::Matrix< double, StateDim, InputDim >	Bd_
	Matrix \(\boldsymbol{B}_d\) of discrete state equation. More...

StateDimVector	Ed_
	Offset vector \(\boldsymbol{e}_d\) of discrete state equation. More...

Detailed Description

template<int StateDim, int InputDim, int OutputDim>
class CCC::StateSpaceModel< StateDim, InputDim, OutputDim >

State-space model.

Template Parameters

StateDim	state dimension
InputDim	input dimension
OutputDim	output dimension

\begin{align*} \boldsymbol{\dot{x}} &= \boldsymbol{A} \boldsymbol{x} + \boldsymbol{B} \boldsymbol{u} + \boldsymbol{e} \\ \boldsymbol{y} &= \boldsymbol{C} \boldsymbol{x} + \boldsymbol{D} \boldsymbol{u} + \boldsymbol{f} \end{align*}

Definition at line 21 of file StateSpaceModel.h.

Member Typedef Documentation

◆ InputDimVector

template<int StateDim, int InputDim, int OutputDim>

using CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::InputDimVector = Eigen::Matrix<double, InputDim, 1>

Type of input vector.

Definition at line 28 of file StateSpaceModel.h.

◆ OutputDimVector

template<int StateDim, int InputDim, int OutputDim>

using CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::OutputDimVector = Eigen::Matrix<double, OutputDim, 1>

Type of output vector.

Definition at line 31 of file StateSpaceModel.h.

◆ StateDimVector

template<int StateDim, int InputDim, int OutputDim>

using CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::StateDimVector = Eigen::Matrix<double, StateDim, 1>

Type of state vector.

Definition at line 25 of file StateSpaceModel.h.

Constructor & Destructor Documentation

◆ StateSpaceModel()

template<int StateDim, int InputDim, int OutputDim>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::StateSpaceModel	(	int	state_dim = `StateDim`,
		int	input_dim = `InputDim`,
		int	output_dim = `OutputDim`
	)

inline

Constructor.

Parameters

state_dim	state dimension
input_dim	input dimension
output_dim	output dimension

Note: dimensions in parameter can be omitted if a fixed value is given in the template value.

Definition at line 42 of file StateSpaceModel.h.

◆ ~StateSpaceModel()

template<int StateDim, int InputDim, int OutputDim>

virtual CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::~StateSpaceModel ( )

virtualdefault

Destructor.

Note: Need to make class polymorphic. See https://stackoverflow.com/a/15114118

Member Function Documentation

◆ calcDiscMatrix()

template<int StateDim, int InputDim, int OutputDim>

void CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::calcDiscMatrix ( double dt )

inline

Calculate the discrete system matrices \(\boldsymbol{A}_d, \boldsymbol{B}_d, \boldsymbol{e}_d\).

Parameters

dt	discretization timestep [sec]

\begin{align*} \boldsymbol{x}_{k+1} = \boldsymbol{A}_d \boldsymbol{x}_k + \boldsymbol{B}_d \boldsymbol{u}_k + \boldsymbol{e}_d \end{align*}

Definition at line 164 of file StateSpaceModel.h.

◆ inputDim()

template<int StateDim, int InputDim, int OutputDim>

int CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::inputDim ( ) const

inline

Gets the input dimension.

Definition at line 107 of file StateSpaceModel.h.

◆ observEq() [1/2]

template<int StateDim, int InputDim, int OutputDim>

OutputDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::observEq ( const StateDimVector & x ) const

inline

Calculate the observation equation.

Parameters

x	state \(\boldsymbol{x}\)

Returns: observation \(\boldsymbol{y}\)

Definition at line 142 of file StateSpaceModel.h.

◆ observEq() [2/2]

template<int StateDim, int InputDim, int OutputDim>

OutputDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::observEq	(	const StateDimVector &	x,
		const InputDimVector &	u
	)		const

inline

Calculate the observation equation.

Parameters

x	state \(\boldsymbol{x}\)
u	input \(\boldsymbol{u}\)

Returns: observation \(\boldsymbol{y}\)

Definition at line 152 of file StateSpaceModel.h.

◆ outputDim()

template<int StateDim, int InputDim, int OutputDim>

int CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::outputDim ( ) const

inline

Gets the output dimension.

Definition at line 113 of file StateSpaceModel.h.

◆ stateDim()

template<int StateDim, int InputDim, int OutputDim>

int CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::stateDim ( ) const

inline

Gets the state dimension.

Definition at line 101 of file StateSpaceModel.h.

◆ stateEq()

template<int StateDim, int InputDim, int OutputDim>

StateDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::stateEq	(	const StateDimVector &	x,
		const InputDimVector &	u
	)		const

inline

Calculate the continuous state equation.

Parameters

x	state \(\boldsymbol{x}\)
u	input \(\boldsymbol{u}\)

Returns: time derivative of state \(\boldsymbol{\dot{x}}\)

Definition at line 123 of file StateSpaceModel.h.

◆ stateEqDisc()

template<int StateDim, int InputDim, int OutputDim>

StateDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::stateEqDisc	(	const StateDimVector &	x,
		const InputDimVector &	u
	)		const

inline

Calculate the discrete state equation.

Parameters

x	current state \(\boldsymbol{x}_k\)
u	current input \(\boldsymbol{u}_k\)

Returns: next state \(\boldsymbol{x}_{k+1}\)

Definition at line 133 of file StateSpaceModel.h.

Member Data Documentation

◆ A_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, StateDim, StateDim> CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::A_

Matrix \(\boldsymbol{A}\) of continuous state equation.

Definition at line 229 of file StateSpaceModel.h.

◆ Ad_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, StateDim, StateDim> CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::Ad_

Matrix \(\boldsymbol{A}_d\) of discrete state equation.

Definition at line 250 of file StateSpaceModel.h.

◆ B_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, StateDim, InputDim> CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::B_

Matrix \(\boldsymbol{B}\) of continuous state equation.

Definition at line 232 of file StateSpaceModel.h.

◆ Bd_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, StateDim, InputDim> CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::Bd_

Matrix \(\boldsymbol{B}_d\) of discrete state equation.

Definition at line 253 of file StateSpaceModel.h.

◆ C_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, OutputDim, StateDim> CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::C_

Matrix \(\boldsymbol{C}\) of observation equation.

Definition at line 235 of file StateSpaceModel.h.

◆ D_

template<int StateDim, int InputDim, int OutputDim>

Eigen::Matrix<double, OutputDim, InputDim> CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::D_

Matrix \(\boldsymbol{D}\) of observation equation.

Definition at line 238 of file StateSpaceModel.h.

◆ dt_

template<int StateDim, int InputDim, int OutputDim>

double CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::dt_ = 0

Discretization timestep [sec] (zero if discrete coefficients are not initialized)

Definition at line 247 of file StateSpaceModel.h.

◆ E_

template<int StateDim, int InputDim, int OutputDim>

StateDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::E_

Offset vector \(\boldsymbol{e}\) of continuous state equation.

Definition at line 241 of file StateSpaceModel.h.

◆ Ed_

template<int StateDim, int InputDim, int OutputDim>

StateDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::Ed_

Offset vector \(\boldsymbol{e}_d\) of discrete state equation.

Definition at line 256 of file StateSpaceModel.h.

◆ F_

template<int StateDim, int InputDim, int OutputDim>

OutputDimVector CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::F_

Offset vector \(\boldsymbol{f}\) of observation equation.

Definition at line 244 of file StateSpaceModel.h.

◆ input_dim_

template<int StateDim, int InputDim, int OutputDim>

const int CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::input_dim_ = 0

Input dimension.

Definition at line 223 of file StateSpaceModel.h.

◆ output_dim_

template<int StateDim, int InputDim, int OutputDim>

const int CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::output_dim_ = 0

Output dimension.

Definition at line 226 of file StateSpaceModel.h.

◆ state_dim_

template<int StateDim, int InputDim, int OutputDim>

const int CCC::StateSpaceModel< StateDim, InputDim, OutputDim >::state_dim_ = 0

State dimension.

Definition at line 220 of file StateSpaceModel.h.

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

/home/runner/work/CentroidalControlCollection/CentroidalControlCollection/catkin_ws/src/CentroidalControlCollection/include/CCC/StateSpaceModel.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<int StateDim, int InputDim, int OutputDim> class CCC::StateSpaceModel< StateDim, InputDim, OutputDim >

Member Typedef Documentation

◆ InputDimVector

◆ OutputDimVector

◆ StateDimVector

Constructor & Destructor Documentation

◆ StateSpaceModel()

◆ ~StateSpaceModel()

Member Function Documentation

◆ calcDiscMatrix()

◆ inputDim()

◆ observEq() [1/2]

◆ observEq() [2/2]

◆ outputDim()

◆ stateDim()

◆ stateEq()

◆ stateEqDisc()

Member Data Documentation

◆ A_

◆ Ad_

◆ B_

◆ Bd_

◆ C_

◆ D_

◆ dt_

◆ E_

◆ Ed_

◆ F_

◆ input_dim_

◆ output_dim_

◆ state_dim_

template<int StateDim, int InputDim, int OutputDim>
class CCC::StateSpaceModel< StateDim, InputDim, OutputDim >