Inheritance diagram for mimpc::systems::REACSA:

Collaboration diagram for mimpc::systems::REACSA:

Public Member Functions
	REACSA (double systemM, double bodyIzz, double rwIzz, double r, double fNom)

SystemSized::AMatrix	getA (const SystemSized::StateVec &state) const override

SystemSized::BMatrix	getB (const SystemSized::StateVec &state) const override

void	updateA (const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeAval) const override

void	updateB (const SystemSized::StateVec &state, std::function< void(unsigned int, unsigned int, double)> &changeBval) const override

Static Public Member Functions
static double	get_angular_velocity_bound (double rw_speed_final_bound)

static void	get_limitcycle_v_bounds (unsigned int num_break_thrusts, double &v_bound, double &x_bound)

static double	get_angular_velocity_bound (double body_Izz, double rw_Izz, double rw_speed_max, double rw_speed_final_bound)

static void	get_limitcycle_v_bounds (unsigned int num_break_thrusts, double system_m, double f_nom, double t_min_on, double t_min_off, double t_max_on, double &v_bound, double &x_bound)

Additional Inherited Members
Public Types inherited from mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
using	AMatrix = typename Eigen::Matrix< double, num_states, num_states >

using	BMatrix = typename Eigen::Matrix< double, num_states, num_cont_inputs+num_bin_inputs >

using	StateVec = typename Eigen::Vector< double, num_states >

using	InputVec = typename Eigen::Vector< double, num_cont_inputs+num_bin_inputs >

Static Public Attributes inherited from mimpc::System< num_states, num_cont_inputs, num_bin_inputs >
static constexpr auto	NUM_STATES = num_states

static constexpr auto	NUM_CONT_INPUTS = num_cont_inputs

static constexpr auto	NUM_BIN_INPUTS = num_bin_inputs

static constexpr auto	NUM_INPUTS = num_bin_inputs + num_cont_inputs

Member Function Documentation

◆ getA()

SystemSized::AMatrix mimpc::systems::REACSA::getA ( const SystemSized::StateVec & state ) const

overridevirtual

Linearizes and returns the system dynamics as matrix A

Parameters

state state to linearize the system around

SystemSized::BMatrix mimpc::systems::REACSA::getB ( const SystemSized::StateVec & state ) const

overridevirtual

Linearizes and returns the system input dynamics as a matrix B

Parameters

state state to linearize the system around

void mimpc::systems::REACSA::updateA	(	const SystemSized::StateVec &	state,
		std::function< void(unsigned int, unsigned int, double)> &	changeAval
	)		const

overridevirtual

Updates the states of the linearized system matrix A based on a new state

Parameters

state	state to linearize the system around
changeAval	callback function that will called for each matrix element which changes due to linearization around the new state. The callback function will be called with parameters (row index, column index, value). The values that are not updated are assumed to stay as returned by getA()

void mimpc::systems::REACSA::updateB	(	const SystemSized::StateVec &	state,
		std::function< void(unsigned int, unsigned int, double)> &	changeBval
	)		const

overridevirtual

Updates the states of the linearized system matrix B based on a new state

Parameters

state	state to linearize the system around
changeAval	callback function that will called for each matrix element which changes due to linearization around the new state. The callback function will be called with parameter (row index, column index, value). The values that are not updated are assumed to stay as returned by getB()

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