Integrator Class Reference

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

#include <Integrator.hxx>

Inheritance diagram for Integrator:

Collaboration diagram for 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 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 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 LimitedLinearSystem
Vector	ul
	Upper limit.
Vector	ll
	Lower limit.
bool	saturation
	Keep track of saturation.
Protected Attributes inherited from 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 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 Integrator::acceptState ( const Vector & x_new )

virtual

Accept a new state.

Parameters

x_new

Vector with the new state.

Reimplemented from LinearSystem.

acceptState() [2/2]

void Integrator::acceptState

(

double

x_new

)

Accept a new state.

Parameters

x_new

Vector with the new state.

step() [1/2]

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

virtual

Calculate a single time step, return the output vector.

Parameters

u	Input vector.

Reimplemented from LimitedLinearSystem.

step() [2/2]

const Vector & 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 LimitedLinearSystem.

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

• /home/abuild/rpmbuild/BUILD/dueca-4.2.1-build/dueca-4.2.1/extra/Integrator.hxx