Inheritance diagram for ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >:

Collaboration diagram for ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >:

Public Types
typedef StateSpace< TScalar, TStateDim, TInputDim, TOutputDim >	Base

Public Types inherited from ls::systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
typedef Eigen::Matrix< double, TStateDim, TStateDim >	TDStateMatrix

typedef Eigen::Matrix< double, TStateDim, TInputDim >	TDInputMatrix

typedef Eigen::Matrix< double, TOutputDim, TStateDim >	TDOutputMatrix

typedef Eigen::Matrix< double, TOutputDim, TInputDim >	TDFeedforwardMatrix

Public Member Functions
	DiscreteStateSpace ()
	Default constructor. More...

	DiscreteStateSpace (double dt)
	Constructs empty discrete state space system with given sampling period. More...

	DiscreteStateSpace (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &C, const Eigen::MatrixXd &D)
	Constructs a discrete state space system with the given matrices. More...

	DiscreteStateSpace (const Eigen::MatrixXd &A, const Eigen::MatrixXd &B, const Eigen::MatrixXd &C, const Eigen::MatrixXd &D, double dt)
	Constructs a discrete state space system with the given matrices. More...

	DiscreteStateSpace (const DiscreteStateSpace &other)
	Copy constructor. More...

void	resample (double dt)
	Resamples the system. More...

void	resampleFast (double dt)
	Resamples the system. More...

bool	isStable (double tolerance=0) const

Public Member Functions inherited from ls::systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
	StateSpace ()
	Default constructor.

	StateSpace (TDStateMatrix A, TDInputMatrix B, TDOutputMatrix C, TDOutputMatrix D)
	Construct a state space system with the given matrices. More...

	StateSpace (const Eigen::EigenBase< DerivedA > &A, const Eigen::EigenBase< DerivedB > &B, const Eigen::EigenBase< DerivedC > &C, const Eigen::EigenBase< DerivedD > &D)

	StateSpace (const StateSpace &other)
	Copy constructor. More...

const TDStateMatrix &	getA () const
	Gets the state matrix. More...

void	setA (TDStateMatrix *A)
	Sets the state matrix. More...

void	setA (Eigen::EigenBase< Derived > *A)

void	setA (const TDStateMatrix &A)
	Sets the state matrix. More...

void	setA (const Eigen::EigenBase< Derived > &A)

const TDInputMatrix &	getB () const
	Gets the input matrix. More...

void	setB (TDInputMatrix *B)
	Sets the input matrix. More...

void	setB (Eigen::EigenBase< Derived > *B)

void	setB (const TDInputMatrix &B)
	Sets the input matrix. More...

void	setB (const Eigen::EigenBase< Derived > &B)

const TDOutputMatrix &	getC () const
	Gets the output matrix. More...

void	setC (TDOutputMatrix *C)
	Sets the output matrix. More...

void	setC (Eigen::EigenBase< Derived > *C)

void	setC (const TDOutputMatrix &C)
	Sets the output matrix. More...

void	setC (const Eigen::EigenBase< Derived > &C)

const TDFeedforwardMatrix &	getD () const
	Gets the feedforward matrix. More...

void	setD (TDFeedforwardMatrix *D)
	Sets the feedforward matrix. More...

void	setD (Eigen::EigenBase< Derived > *D)

void	setD (const TDFeedforwardMatrix &D)
	Sets the feedforward matrix. More...

void	setD (const Eigen::EigenBase< Derived > &D)

void	copyMatrices (const StateSpace &other)
	Copies matrices from one state space object to the current instance. More...

void	setDiscreteParams (double dt)
	Sets the discrete time system parameters. More...

void	setDiscreteParams (double dt, bool discrete)
	Sets the discrete time system parameters. More...

bool	isDiscrete () const
	Returns a bool that tells if the system is discrete. More...

double	getSamplingPeriod () const
	Returns the sampling period. More...

void	setSamplingPeriod (double dt)
	Sets the sampling period. More...

	stateDim () const
	Returns the state dimension. More...

	stateDim () const

long	stateDimDynamic () const

long	stateDimStatic () const

	inputDim () const
	Returns the input dimension. More...

	inputDim () const

long	inputDimDynamic () const

long	inputDimStatic () const

	outputDim () const
	Returns the output dimension. More...

	outputDim () const

long	outputDimDynamic () const

long	outputDimStatic () const

void	append (const StateSpace< double, TStateDim2, TOutputDim, TOutputDim2 > &ss)
	Appends to state space systems. More...

bool	isStable (double tolerance=0) const
	Determines if the system is stable based on its eigenvalues. More...

ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_DYNAMIC_DEFAULT(T_TStateDim, T_TInputDim, T_TOutputDim)) const
	Returns a state space representation that adds integral action to the original system. More...

ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_STATIC_DEFAULT(T_TStateDim, T_TInputDim, T_TOutputDim)) const
	Returns a state space representation that adds integral action to the original system. More...

ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_DYNAMIC(T_TStateDim, T_TInputDim, T_TOutputDim)) const

ls::systems::StateSpace< T_TScalar, LS_STATIC_UNLESS_DYNAMIC(T_TStateDim+T_TOutputDim), T_TInputDim, T_TOutputDim >	addIntegralAction (LS_IS_STATIC(T_TStateDim, T_TInputDim, T_TOutputDim)) const

Additional Inherited Members
Protected Attributes inherited from ls::systems::StateSpace< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
TDStateMatrix *	A_

TDInputMatrix *	B_
	TState matrix.

TDOutputMatrix *	C_
	Input matrix.

TDFeedforwardMatrix *	D_
	Output matrix.

double	dt_
	Feedforward matrix.

bool	isDiscrete_
	Sampling period.

Constructor & Destructor Documentation

◆ DiscreteStateSpace() [1/5]

template<typename TScalar = double, int TStateDim = Eigen::Dynamic, int TInputDim = Eigen::Dynamic, int TOutputDim = Eigen::Dynamic>

ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::DiscreteStateSpace ( )

inline

Default constructor.

Sets sampling time to 1.

◆ DiscreteStateSpace() [2/5]

template<typename TScalar = double, int TStateDim = Eigen::Dynamic, int TInputDim = Eigen::Dynamic, int TOutputDim = Eigen::Dynamic>

ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::DiscreteStateSpace ( double dt )

inline

Constructs empty discrete state space system with given sampling period.

Parameters

dt	Sampling period.

◆ DiscreteStateSpace() [3/5]

template<typename TScalar = double, int TStateDim = Eigen::Dynamic, int TInputDim = Eigen::Dynamic, int TOutputDim = Eigen::Dynamic>

ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::DiscreteStateSpace	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B,
		const Eigen::MatrixXd &	C,
		const Eigen::MatrixXd &	D
	)

inline

Constructs a discrete state space system with the given matrices.

The sampling period is set to 1.

Parameters

A	TState matrix.
B	Input matrix.
C	Output matrix.
D	Feedforward matrix.

◆ DiscreteStateSpace() [4/5]

template<typename TScalar = double, int TStateDim = Eigen::Dynamic, int TInputDim = Eigen::Dynamic, int TOutputDim = Eigen::Dynamic>

ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::DiscreteStateSpace	(	const Eigen::MatrixXd &	A,
		const Eigen::MatrixXd &	B,
		const Eigen::MatrixXd &	C,
		const Eigen::MatrixXd &	D,
		double	dt
	)

inline

Constructs a discrete state space system with the given matrices.

Parameters

A	TState matrix.
B	Input matrix.
C	Output matrix.
D	Feedforward matrix.
dt	Sampling period.

◆ DiscreteStateSpace() [5/5]

template<typename TScalar = double, int TStateDim = Eigen::Dynamic, int TInputDim = Eigen::Dynamic, int TOutputDim = Eigen::Dynamic>

ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::DiscreteStateSpace ( const DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim > & other )

inline

Copy constructor.

Parameters

other Discrete state space object to copy.

Member Function Documentation

◆ resample()

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>

void ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::resample ( double dt )

Resamples the system.

This method uses zero-order hold.

Parameters

dt	New sampling period.

◆ resampleFast()

template<typename TScalar , int TStateDim, int TInputDim, int TOutputDim>

void ls::systems::DiscreteStateSpace< TScalar, TStateDim, TInputDim, TOutputDim >::resampleFast ( double dt )

Resamples the system.

This method uses a backward difference transformation.

Parameters

dt	New sampling period.

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

Lodestar/systems/DiscreteStateSpace.hpp

Lodestar An integrated real-time control package in C++

Public Types

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ DiscreteStateSpace() [1/5]

◆ DiscreteStateSpace() [2/5]

◆ DiscreteStateSpace() [3/5]

◆ DiscreteStateSpace() [4/5]

◆ DiscreteStateSpace() [5/5]

Member Function Documentation

◆ resample()

◆ resampleFast()