dueca::Integrator Class Reference

This class creates a single integrator, if requested with limits on its state. More...

#include <Integrator.hxx>

Inheritance diagram for dueca::Integrator:

Collaboration diagram for dueca::Integrator:

Public Member Functions
	Integrator (double dt=0.01)
	Default constructor.
	Integrator (double lower_limit, double upper_limit, double dt=0.01)
	Constructor for Integrator with limits.
	~Integrator ()
	Destructor.
void	setDT (double dt)
	(Re-)discretize the integrator to match timestep size 'dt'
void	setSaturationLimits (const Vector &lower, const Vector &upper)
	Set the limits on the states.
void	setSaturationLimits (double lower_limit, double upper_limit)
	Set the limits for this integrator.
void	acceptState (const Vector &x_new)
	Accept a new state.
void	acceptState (double x_new)
	Accept a new state.
const Vector &	step (const Vector &u)
	Calculate a single time step, return the output vector.
const Vector &	step (double u)
	Calculate a single time step, return the output vector.
Public Member Functions inherited from dueca::LimitedLinearSystem
	LimitedLinearSystem ()
	Default constructor.
	LimitedLinearSystem (const Vector &num, const Vector &den, double dt)
	This constructs a SISO system, on the basis of continuous time transfer function.
	LimitedLinearSystem (const LimitedLinearSystem &)
	Copy constructor.
	LimitedLinearSystem (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	This constructs a system, on the basis of a continuous time state space system.
virtual	~LimitedLinearSystem ()
	Destructor.
LimitedLinearSystem &	operator= (const LimitedLinearSystem &o)
	Assignment of one system to another.
void	setSaturationLimits (const Vector &lower, const Vector &upper)
	Set the saturation limits for the states.
bool	isSaturated () const
	Returns true if one or more of the states are saturated.
void	acceptState (const Vector &x_new)
	Accept a new state.
void	reset ()
	Reset state, output, and saturation.
Public Member Functions inherited from dueca::LinearSystem
	LinearSystem ()
	Default constructor.
	LinearSystem (const Vector &num, const Vector &den, double dt)
	This constructs a SISO system, on the basis of continuous time transfer function.
	LinearSystem (const LinearSystem &)
	Copy constructor.
	LinearSystem (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	This constructs a system, on the basis of a continuous time state space system.
	LinearSystem (const Matrix &phi, const Matrix &psi, const Matrix &C, const Matrix &D)
	This constructs a system, on the basis of a discrete time state space system.
virtual	~LinearSystem ()
	Destructor.
LinearSystem &	operator= (const LinearSystem &o)
	Assignment of one system to another.
void	createFromNumDen (const Vector &num, const Vector &den, double dt)
	Create a system from numerator, denominator input.
void	createFromABCD (const Matrix &A, const Matrix &B, const Matrix &C, const Matrix &D, double dt)
	Create from matrices.
void	createFromPhiPsiCD (const Matrix &phi, const Matrix &psi, const Matrix &C, const Matrix &D)
	Create from matrices, discrete.
const Vector &	getY () const
	Obtain the output vector.
const Vector &	getX () const
	Obtain the state vector.
Vector &	getX ()
	Obtain the state vector for modification.
const Matrix &	getPhi () const
	Additional output, transition.
const Matrix &	getPsi () const
	Input matrix discrete system.
const Matrix &	getC () const
	Output matrix.
const Matrix &	getD () const
	Feedthrough matrix.

Additional Inherited Members
Protected Attributes inherited from dueca::LimitedLinearSystem
Vector	ul
	Upper limit.
Vector	ll
	Lower limit.
bool	saturation
	Keep track of saturation.
Protected Attributes inherited from dueca::LinearSystem
unsigned	n
	Order of the system.
unsigned	m
	Number of outputs.
Matrix	Phi
	Transition matrix.
Matrix	Psi
	Input matrix.
Matrix	C
	Output matrix.
Matrix	D
	Feedthrough matrix.
Vector	x
	The state vector.
Vector	y
	The output vector.

Detailed Description

This class creates a single integrator, if requested with limits on its state.

Member Function Documentation

setDT()

void dueca::Integrator::setDT

(

double

dt

)

(Re-)discretize the integrator to match timestep size 'dt'

Parameters

dt	The timestep size that should be used to discretize the integrator.

acceptState() [1/2]

void dueca::Integrator::acceptState ( const Vector &  x_new )

virtual

Accept a new state.

Parameters

x_new

Vector with the new state.

Reimplemented from dueca::LinearSystem.

acceptState() [2/2]

void dueca::Integrator::acceptState

(

double

x_new

)

Accept a new state.

Parameters

x_new

Vector with the new state.

step() [1/2]

const Vector & dueca::Integrator::step ( const Vector &  u )

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input vector.

Reimplemented from dueca::LimitedLinearSystem.

step() [2/2]

const Vector & dueca::Integrator::step ( double  u )

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input variable. Only valid for SI systems.

Reimplemented from dueca::LimitedLinearSystem.

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

• /usr/src/packages/BUILD/extra/Integrator.hxx