A plant defined using state-space notation. More...

#include <frc/system/LinearSystem.h>

Public Types
using	StateVector = Vectord< States >

using	InputVector = Vectord< Inputs >

using	OutputVector = Vectord< Outputs >

Public Member Functions
	LinearSystem (const Matrixd< States, States > &A, const Matrixd< States, Inputs > &B, const Matrixd< Outputs, States > &C, const Matrixd< Outputs, Inputs > &D)
	Constructs a discrete plant with the given continuous system coefficients. More...

	LinearSystem (const LinearSystem &)=default

LinearSystem &	operator= (const LinearSystem &)=default

	LinearSystem (LinearSystem &&)=default

LinearSystem &	operator= (LinearSystem &&)=default

const Matrixd< States, States > &	A () const
	Returns the system matrix A. More...

double	A (int i, int j) const
	Returns an element of the system matrix A. More...

const Matrixd< States, Inputs > &	B () const
	Returns the input matrix B. More...

double	B (int i, int j) const
	Returns an element of the input matrix B. More...

const Matrixd< Outputs, States > &	C () const
	Returns the output matrix C. More...

double	C (int i, int j) const
	Returns an element of the output matrix C. More...

const Matrixd< Outputs, Inputs > &	D () const
	Returns the feedthrough matrix D. More...

double	D (int i, int j) const
	Returns an element of the feedthrough matrix D. More...

StateVector	CalculateX (const StateVector &x, const InputVector &clampedU, units::second_t dt) const
	Computes the new x given the old x and the control input. More...

OutputVector	CalculateY (const StateVector &x, const InputVector &clampedU) const
	Computes the new y given the control input. More...

Detailed Description

template<int States, int Inputs, int Outputs>
class frc::LinearSystem< States, Inputs, Outputs >

A plant defined using state-space notation.

A plant is a mathematical model of a system's dynamics.

For more on the underlying math, read https://file.tavsys.net/control/controls-engineering-in-frc.pdf.

Template Parameters

States	Number of states.
Inputs	Number of inputs.
Outputs	Number of outputs.

Member Typedef Documentation

◆ InputVector

template<int States, int Inputs, int Outputs>

using frc::LinearSystem< States, Inputs, Outputs >::InputVector = Vectord<Inputs>

◆ OutputVector

template<int States, int Inputs, int Outputs>

using frc::LinearSystem< States, Inputs, Outputs >::OutputVector = Vectord<Outputs>

◆ StateVector

template<int States, int Inputs, int Outputs>

using frc::LinearSystem< States, Inputs, Outputs >::StateVector = Vectord<States>

Constructor & Destructor Documentation

◆ LinearSystem() [1/3]

template<int States, int Inputs, int Outputs>

frc::LinearSystem< States, Inputs, Outputs >::LinearSystem	(	const Matrixd< States, States > &	A,
		const Matrixd< States, Inputs > &	B,
		const Matrixd< Outputs, States > &	C,
		const Matrixd< Outputs, Inputs > &	D
	)

inline

Constructs a discrete plant with the given continuous system coefficients.

Parameters

A	System matrix.
B	Input matrix.
C	Output matrix.
D	Feedthrough matrix.

Exceptions

std::domain_error if any matrix element isn't finite.

◆ LinearSystem() [2/3]

template<int States, int Inputs, int Outputs>

frc::LinearSystem< States, Inputs, Outputs >::LinearSystem ( const LinearSystem< States, Inputs, Outputs > & )

default

◆ LinearSystem() [3/3]

template<int States, int Inputs, int Outputs>

frc::LinearSystem< States, Inputs, Outputs >::LinearSystem ( LinearSystem< States, Inputs, Outputs > && )

default

Member Function Documentation

◆ A() [1/2]

template<int States, int Inputs, int Outputs>

const Matrixd< States, States > & frc::LinearSystem< States, Inputs, Outputs >::A ( ) const

inline

Returns the system matrix A.

◆ A() [2/2]

template<int States, int Inputs, int Outputs>

double frc::LinearSystem< States, Inputs, Outputs >::A	(	int	i,
		int	j
	)		const

inline

Returns an element of the system matrix A.

Parameters

i	Row of A.
j	Column of A.

◆ B() [1/2]

template<int States, int Inputs, int Outputs>

const Matrixd< States, Inputs > & frc::LinearSystem< States, Inputs, Outputs >::B ( ) const

inline

Returns the input matrix B.

◆ B() [2/2]

template<int States, int Inputs, int Outputs>

double frc::LinearSystem< States, Inputs, Outputs >::B	(	int	i,
		int	j
	)		const

inline

Returns an element of the input matrix B.

Parameters

i	Row of B.
j	Column of B.

◆ C() [1/2]

template<int States, int Inputs, int Outputs>

const Matrixd< Outputs, States > & frc::LinearSystem< States, Inputs, Outputs >::C ( ) const

inline

Returns the output matrix C.

◆ C() [2/2]

template<int States, int Inputs, int Outputs>

double frc::LinearSystem< States, Inputs, Outputs >::C	(	int	i,
		int	j
	)		const

inline

Returns an element of the output matrix C.

Parameters

i	Row of C.
j	Column of C.

◆ CalculateX()

template<int States, int Inputs, int Outputs>

StateVector frc::LinearSystem< States, Inputs, Outputs >::CalculateX	(	const StateVector &	x,
		const InputVector &	clampedU,
		units::second_t	dt
	)		const

inline

Computes the new x given the old x and the control input.

This is used by state observers directly to run updates based on state estimate.

Parameters

x	The current state.
clampedU	The control input.
dt	Timestep for model update.

◆ CalculateY()

template<int States, int Inputs, int Outputs>

OutputVector frc::LinearSystem< States, Inputs, Outputs >::CalculateY	(	const StateVector &	x,
		const InputVector &	clampedU
	)		const

inline

Computes the new y given the control input.

This is used by state observers directly to run updates based on state estimate.

Parameters

x	The current state.
clampedU	The control input.

◆ D() [1/2]

template<int States, int Inputs, int Outputs>

const Matrixd< Outputs, Inputs > & frc::LinearSystem< States, Inputs, Outputs >::D ( ) const

inline

Returns the feedthrough matrix D.

◆ D() [2/2]

template<int States, int Inputs, int Outputs>

double frc::LinearSystem< States, Inputs, Outputs >::D	(	int	i,
		int	j
	)		const

inline

Returns an element of the feedthrough matrix D.

Parameters

i	Row of D.
j	Column of D.

◆ operator=() [1/2]

template<int States, int Inputs, int Outputs>

LinearSystem & frc::LinearSystem< States, Inputs, Outputs >::operator= ( const LinearSystem< States, Inputs, Outputs > & )

default

◆ operator=() [2/2]

template<int States, int Inputs, int Outputs>

LinearSystem & frc::LinearSystem< States, Inputs, Outputs >::operator= ( LinearSystem< States, Inputs, Outputs > && )

default

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

frc/system/LinearSystem.h

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ InputVector

◆ OutputVector

◆ StateVector

Constructor & Destructor Documentation

◆ LinearSystem() [1/3]

◆ LinearSystem() [2/3]

◆ LinearSystem() [3/3]

Member Function Documentation

◆ A() [1/2]

◆ A() [2/2]

◆ B() [1/2]

◆ B() [2/2]

◆ C() [1/2]

◆ C() [2/2]

◆ CalculateX()

◆ CalculateY()

◆ D() [1/2]

◆ D() [2/2]

◆ operator=() [1/2]

◆ operator=() [2/2]