class
LinearTimeInvariantSystemLinearTimeInvariantSystem describes a MIMO linear time invariant system of the form where x is the state and u the control input.
The state, its derivative and the control input are described by vectors The LinearTimeInvariantSystem inherits from a generic DynamicalSystem where the State is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
x | Eigen::VectorXd | A generic vector belonging to |
The StateDerivative
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
dx | Eigen::VectorXd | A state vector derivative belonging to |
The Input
is described by a BipedalLocomotion::
Name | Type | Description |
---|---|---|
u | Eigen::VectorXd | A control vector belonging to |
Base classes
-
template<class _Derived>class DynamicalSystem<LinearTimeInvariantSystem>
- DynamicalSystem defines a continuous time dynamical system, i.e.
Public functions
- auto setSystemMatrices(const Eigen::Ref<const Eigen::MatrixXd>& A, const Eigen::Ref<const Eigen::MatrixXd>& B) -> bool
- Set the system matrices.
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool - Initialize the Dynamical system.
- auto setState(const State& state) -> bool
- Set the state of the dynamical system.
- auto getState() const -> const State&
- Get the state to the dynamical system.
- auto setControlInput(const Input& controlInput) -> bool
- Set the control input to the dynamical system.
- auto dynamics(const std::chrono::nanoseconds& time, StateDerivative& stateDerivative) -> bool
- Computes the system dynamics.
Function documentation
bool BipedalLocomotion:: ContinuousDynamicalSystem:: LinearTimeInvariantSystem:: setSystemMatrices(const Eigen::Ref<const Eigen::MatrixXd>& A,
const Eigen::Ref<const Eigen::MatrixXd>& B)
Set the system matrices.
Parameters | |
---|---|
A | the A matrix. |
B | the B matrix. |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: LinearTimeInvariantSystem:: initialize(std::weak_ptr<const ParametersHandler:: IParametersHandler> handler)
Initialize the Dynamical system.
Parameters | |
---|---|
handler | pointer to the parameter handler. |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: LinearTimeInvariantSystem:: setControlInput(const Input& controlInput)
Set the control input to the dynamical system.
Parameters | |
---|---|
controlInput | the value of the control input used to compute the system dynamics. |
Returns | true in case of success, false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: LinearTimeInvariantSystem:: dynamics(const std::chrono::nanoseconds& time,
StateDerivative& stateDerivative)
Computes the system dynamics.
Parameters | |
---|---|
time | the time at witch the dynamics is computed. |
stateDerivative | |
Returns | true in case of success, false otherwise. |
It return