TransferFunction.hpp

//
// Created by Hamza El-Kebir on 4/18/21.
//
 
#ifndef LODESTAR_TRANSFERFUNCTION_HPP
#define LODESTAR_TRANSFERFUNCTION_HPP
 
#include "SystemStateless.hpp"
#include "StateSpace.hpp"
#include "DiscreteStateSpace.hpp"
#include "Lodestar/analysis/BilinearTransformation.hpp"
#include "Lodestar/LodestarErrors.hpp"
 
#include <Eigen/Dense>
 
#ifdef LS_USE_GINAC
 
#include <ginac/ginac.h>
 
#undef Mutable
 
#endif
 
namespace ls {
    namespace systems {
        class TransferFunction : SystemStateless {
        public:
            TransferFunction() : num_(Eigen::MatrixXd::Ones(1, 1)),
                                 den_(Eigen::MatrixXd::Ones(1, 1))
            {}
 
            TransferFunction(const TransferFunction &other);
 
            TransferFunction(const Eigen::MatrixXd &num,
                             const Eigen::MatrixXd &den) : num_(num), den_(den)
            {}
 
            Eigen::MatrixXd getNum() const;
 
            void setNum(const Eigen::MatrixXd &num);
 
            long getNumDegree() const;
 
            Eigen::MatrixXd getDen() const;
 
            void setDen(const Eigen::MatrixXd &den);
 
            long getDenDegree() const;
 
            void normalizeInPlace();
 
            TransferFunction normalized() const;
 
            StateSpace<> toStateSpace() const;
 
            StateSpace<> toDiscreteStateSpace(double dt) const;
 
            StateSpace<> toDiscreteStateSpace(double dt, double alpha) const;
 
#ifdef LS_USE_GINAC
 
            TransferFunction(const GiNaC::ex &tf, const GiNaC::ex &symbol);
 
            GiNaC::ex getNumExpression(const GiNaC::ex &symbol) const;
 
            GiNaC::ex getDenExpression(const GiNaC::ex &symbol) const;
 
            GiNaC::ex getExpression(const GiNaC::ex &symbol) const;
 
            void
            copyFromExpression(const GiNaC::ex &tf, const GiNaC::ex &symbol);
 
#endif
 
        private:
            Eigen::MatrixXd num_, 
            den_; 
        };
    }
}
 
#endif //LODESTAR_TRANSFERFUNCTION_HPP