Drake
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AffineSystem< StateVec, InputVec, OutputVec > Class Template Reference
Modeling Dynamical Systems » System Concept

AffineSystem<StateVector, InputVector, OutputVector> More...

#include <drake/systems/LinearSystem.h>

Inheritance diagram for AffineSystem< StateVec, InputVec, OutputVec >:
Inheritance graph
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Public Types

template<typename ScalarType >
using StateVector = StateVec< ScalarType >
 
template<typename ScalarType >
using OutputVector = OutputVec< ScalarType >
 
template<typename ScalarType >
using InputVector = InputVec< ScalarType >
 

Public Member Functions

template<typename DerivedA , typename DerivedB , typename Derivedxdot0 , typename DerivedC , typename DerivedD , typename Derivedy0 >
 AffineSystem (const Eigen::MatrixBase< DerivedA > &A, const Eigen::MatrixBase< DerivedB > &B, const Eigen::MatrixBase< Derivedxdot0 > &xdot0, const Eigen::MatrixBase< DerivedC > &C, const Eigen::MatrixBase< DerivedD > &D, const Eigen::MatrixBase< Derivedy0 > &y0)
 
template<typename ScalarType >
StateVector< ScalarType > dynamics (const ScalarType &t, const StateVector< ScalarType > &x, const InputVector< ScalarType > &u) const
 
template<typename ScalarType >
OutputVector< ScalarType > output (const ScalarType &t, const StateVector< ScalarType > &x, const InputVector< ScalarType > &u) const
 
bool isTimeVarying () const
 
bool isDirectFeedthrough () const
 
size_t getNumStates () const
 
size_t getNumInputs () const
 
size_t getNumOutputs () const
 

Detailed Description

template<template< typename > class StateVec, template< typename > class InputVec, template< typename > class OutputVec>
class Drake::AffineSystem< StateVec, InputVec, OutputVec >

AffineSystem<StateVector, InputVector, OutputVector>

Builds an affine system from it's state-space matrix coefficients

Implemented concepts:
System Concept

Implements

\[ \dot{x} = Ax + B*u + \dot{x}_0 \\ y = Cx + Du + y_0 \]

Member Typedef Documentation

using InputVector = InputVec<ScalarType>
using OutputVector = OutputVec<ScalarType>
using StateVector = StateVec<ScalarType>

Constructor & Destructor Documentation

AffineSystem ( const Eigen::MatrixBase< DerivedA > &  A,
const Eigen::MatrixBase< DerivedB > &  B,
const Eigen::MatrixBase< Derivedxdot0 > &  xdot0,
const Eigen::MatrixBase< DerivedC > &  C,
const Eigen::MatrixBase< DerivedD > &  D,
const Eigen::MatrixBase< Derivedy0 > &  y0 
)
inline

Member Function Documentation

StateVector<ScalarType> dynamics ( const ScalarType &  t,
const StateVector< ScalarType > &  x,
const InputVector< ScalarType > &  u 
) const
inline
size_t getNumInputs ( ) const
inline
size_t getNumOutputs ( ) const
inline
size_t getNumStates ( ) const
inline
bool isDirectFeedthrough ( ) const
inline
bool isTimeVarying ( ) const
inline
OutputVector<ScalarType> output ( const ScalarType &  t,
const StateVector< ScalarType > &  x,
const InputVector< ScalarType > &  u 
) const
inline
The documentation for this class was generated from the following file: