A superclass for continuous/discrete dynamic systems. More...

Inheritance diagram for DynamicalSystem:

Public Member Functions
function obj =	addState (varargin)
	Add state variables of the dynamical system. More...

function obj =	addInput (category, name, var, gf, varargin)
	Add input variables of the dynamical system. More...

function obj =	removeInput (category, name)
	Remove input variables of the dynamical system. More...

function obj =	addParam (varargin)
	Add parameter variables of the dynamical system. More...

function obj =	removeParam (param_name)
	Remove parameter variables of the dynamical system. More...

function obj =	setParamValue (varargin)
	set the actual value of the system parameters More...

function obj =	compile (export_path, varargin)
	export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files. More...

function obj =	loadDynamics (export_path, varargin)

function obj =	saveExpression (export_path, varargin)
	save the symbolic expression of system dynamical equations to a MX binary files More...

	DynamicalSystem (char type,char name)
	The class construction function. More...

function obj =	setName (name)
	set the name of the dynamical system More...

function ret =	isParam (char name)

function var_group =	validateVarName (char name)
	Validate the group and category of the variables specified by the input `name` More...

function obj =	setType (char type)
	Sets the type of the dynamical system. More...

Public Attributes
char	Name
	The unique name identification of the system. More...

function_handle	ExternalInputFun
	Returns the external input defined on the dynamical system. More...

char	Type
	The highest order of the state derivatives of the system. More...

struct	States
	A structure that contains the symbolic representation of state variables. More...

double	numState
	The total number of system states. More...

struct	Inputs
	A structure that contains the symbolic representation of input variables. More...

struct	Params
	The parameters of the system. More...

struct	Gvec
	The struct of input vector fields Gvec(x,u) SymFunction. More...

struct	Gmap
	The struct of input map Gmap(x) SymFunction. More...

Public Attributes inherited from handle
	addlistener
	Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More...

	notify
	Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More...

	delete
	Handle object destructor method that is called when the object's lifecycle ends. More...

	disp
	Handle object disp method which is called by the display method. See the MATLAB disp function. More...

	display
	Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More...

	findobj
	Finds objects matching the specified conditions from the input array of handle objects. More...

	findprop
	Returns a meta.property objects associated with the specified property name. More...

	fields
	Returns a cell array of string containing the names of public properties. More...

	fieldnames
	Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More...

	isvalid
	Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More...

	eq
	Relational functions example. See details for more information. More...

	transpose
	Transposes the elements of the handle object array. More...

	permute
	Rearranges the dimensions of the handle object array. See the MATLAB permute function. More...

	reshape
	hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More...

	sort
	ort the handle objects in any array in ascending or descending order. More...

Protected Member Functions
function value =	getValue (vars)
	returns the variables (vars) value that are stored during computing the dynamics More...

function v_type =	validateSystemType (type)
	validate if it is valid system type More...

Protected Attributes
double	t_
	The time. More...

struct	states_
	The states. More...

struct	inputs_
	The inputs. More...

struct	params_
	The parameters. More...

struct	GmapName_
	The name of the Gmap functions. More...

struct	GvecName_
	The name of the Gvec functions. More...

Detailed Description

A superclass for continuous/discrete dynamic systems.

Author: ayonga

Date: 2017-02-26

Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php

Note: This class has the class property Abstract and needs to be inherited in order to be instantiable.

Constructor & Destructor Documentation

◆ DynamicalSystem()

DynamicalSystem.DynamicalSystem	(	char	type,
		char	name
	)

inline

The class construction function.

Parameters

type	the type of the system
name	the name of the system

Member Function Documentation

◆ addInput()

function obj = DynamicalSystem.addInput	(	category,
		name,
		var,
		gf,
		varargin
	)

Add input variables of the dynamical system.

Note: By default, we assume the input is affine.

Parameters

category	the category of the input
name	the name of the inputs
var	the symbolic variables or a list or number of input signals of the inputs
gf	the input map g(x) or g(x,u)
varargin	optional argument indicating whether the input is affine

addInput ( ..., [ "Affine", Affine_value ] [, "LoadPath", LoadPath_value ] )

Named Parameters for varargin:

Affine Affine ( Default: true )
LoadPath LoadPath ( Default: [] )

◆ addParam()

function obj = DynamicalSystem.addParam ( varargin )

Add parameter variables of the dynamical system.

Parameters

varargin the name-value pairs (or struct) of the system parameters

◆ addState()

function obj = DynamicalSystem.addState ( varargin )

Add state variables of the dynamical system.

Parameters

varargin the name-value pairs (or struct) of the system parameters

Generated fields of obj:

◆ compile()

function obj = DynamicalSystem.compile	(	export_path,
		varargin
	)

export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files.

Parameters

export_path	the path to export the file
varargin	variable input parameters compile ( ..., StackVariable, File, ForceExport, BuildMex, Namespace ) Required Parameters for varargin: StackVariable whether to stack variables into one File the (full) file name of exported file ForceExport force the export BuildMex flag whether to MEX the exported file Namespace the namespace of the function

◆ getValue()

function value = DynamicalSystem.getValue ( vars )

inlineprotected

returns the variables (vars) value that are stored during computing the dynamics

◆ isParam()

function ret = DynamicalSystem.isParam ( char name )

inline

◆ loadDynamics()

function obj = DynamicalSystem.loadDynamics	(	export_path,
		varargin
	)

◆ removeInput()

function obj = DynamicalSystem.removeInput	(	category,
		name
	)

Remove input variables of the dynamical system.

Parameters

category	the category of the input
name	the name of the input variables to be removed

◆ removeParam()

function obj = DynamicalSystem.removeParam ( param_name )

Remove parameter variables of the dynamical system.

Parameters

param_name the name of the parameter variables to be removed

Generated fields of obj:

◆ saveExpression()

function obj = DynamicalSystem.saveExpression	(	export_path,
		varargin
	)

save the symbolic expression of system dynamical equations to a MX binary files

Parameters

export_path	the path to export the file
varargin	variable input parameters saveExpression ( ..., ForceExport ) Required Parameters for varargin: ForceExport force the export

◆ setName()

function obj = DynamicalSystem.setName ( name )

inline

set the name of the dynamical system

Generated fields of obj:

◆ setParamValue()

function obj = DynamicalSystem.setParamValue ( varargin )

set the actual value of the system parameters

Parameters

varargin the parameter values

◆ setType()

function obj = DynamicalSystem.setType ( char type )

inline

Sets the type of the dynamical system.

Parameters

type	the system type

Generated fields of obj:

◆ validateSystemType()

function v_type = DynamicalSystem.validateSystemType ( type )

inlineprotected

validate if it is valid system type

◆ validateVarName()

function var_group = DynamicalSystem.validateVarName ( char name )

inline

Validate the group and category of the variables specified by the input name

Parameters

name	the name string of the variable

Member Data Documentation

◆ ExternalInputFun

DynamicalSystem.ExternalInputFun

Returns the external input defined on the dynamical system.

◆ Gmap

DynamicalSystem.Gmap

The struct of input map Gmap(x) SymFunction.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ GmapName_

DynamicalSystem.GmapName_

protected

The name of the Gmap functions.

Note: This property has the MATLAB attribute Hidden set to true.; Matlab documentation of property attributes.

◆ Gvec

DynamicalSystem.Gvec

The struct of input vector fields Gvec(x,u) SymFunction.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ GvecName_

DynamicalSystem.GvecName_

protected

The name of the Gvec functions.

Note: This property has the MATLAB attribute Hidden set to true.; Matlab documentation of property attributes.

◆ Inputs

DynamicalSystem.Inputs

A structure that contains the symbolic representation of input variables.

We categorized input signals into three different groups: Control: the control input ConstraintWrench: the constrained wrench from any bilateral (holonomic or nonholonomic) constraints External: other external inputs, such as disturbance, etc.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ inputs_

DynamicalSystem.inputs_

protected

The inputs.

Note: This property has the MATLAB attribute Hidden set to true.; Matlab documentation of property attributes.

◆ Name

DynamicalSystem.Name

The unique name identification of the system.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ numState

DynamicalSystem.numState

The total number of system states.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ Params

DynamicalSystem.Params

The parameters of the system.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ params_

DynamicalSystem.params_

protected

The parameters.

Note: This property has the MATLAB attribute Hidden set to true.; Matlab documentation of property attributes.

◆ States

DynamicalSystem.States

A structure that contains the symbolic representation of state variables.

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ states_

DynamicalSystem.states_

protected

The states.

Note: This property has the MATLAB attribute Hidden set to true.; Matlab documentation of property attributes.

◆ t_

DynamicalSystem.t_

protected

The time.

Note: This property has the MATLAB attribute Hidden set to true.; Matlab documentation of property attributes.

◆ Type

DynamicalSystem.Type

The highest order of the state derivatives of the system.

Note: The system could be either a FirstOrder system or a SecondOrder system.; This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

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

/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/DynamicalSystem.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/addInput.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/addParam.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/addState.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/compile.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/removeInput.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/removeParam.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/saveExpression.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/system/@DynamicalSystem/setParamValue.m

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamicalSystem()

Member Function Documentation

◆ addInput()

◆ addParam()

◆ addState()

◆ compile()

◆ getValue()

◆ isParam()

◆ loadDynamics()

◆ removeInput()

◆ removeParam()

◆ saveExpression()

◆ setName()

◆ setParamValue()

◆ setType()

◆ validateSystemType()

◆ validateVarName()

Member Data Documentation

◆ ExternalInputFun

◆ Gmap

◆ GmapName_

◆ Gvec

◆ GvecName_

◆ Inputs

◆ inputs_

◆ Name

◆ numState

◆ Params

◆ params_

◆ States

◆ states_

◆ t_

◆ Type