Diff: ltisys.h

Revision:

1:231f20f755fe

Parent:

0:d144578aa744

Child:

2:ea36561fdc00

diff -r d144578aa744 -r 231f20f755fe ltisys.h
--- a/ltisys.h	Thu May 07 11:10:40 2015 +0000
+++ b/ltisys.h	Fri May 08 17:03:13 2015 +0000
@@ -1,14 +1,47 @@
 #ifndef LTISYS_H_
 #define LTISYS_H_
 
+/** ltisys class 
+ *  Implementation of continuous-time linear time-invariant system by RK4
+ * 
+ *  @tparam nx number of states
+ *  @tparam nu number of inputs
+ *  @tparam ny number of outputs
+ */
 template<int nx, int nu, int ny>
 class ltisys{
 public:
+    /** Create ltisys instance 
+     *  implements
+     *    dx/dt = Ax +Bu, 
+     *    y = Cx + Du
+     * @param matA A-matrix in continuous-time linear state-space representation
+     * @param matB B-matrix in continuous-time linear state-space representation
+     * @param matC C-matrix in continuous-time linear state-space representation
+     * @param matD D-matrix in continuous-time linear state-space representation
+     *
+     * @note All matrices are row major in this library. Different from MATLAB/FORTRAN.
+     */
     ltisys(double *matA, double *matB, double *matC, double *matD);
     virtual ~ltisys();
 
+    /** Update states and outputs
+     * updates internal states and outputs of the system
+     * calculation is done by 4th order Runge-Kutta method
+     * @param dt time elapsed from the last update
+     * @param u new input
+     */
     inline void update(double dt, double *u);
-    double x[nx], u[nu], y[ny];
+    
+    /// system states
+    double x[nx];
+    
+    /// applied inputs
+    double u[nu];
+    
+    ///  system outputs
+    double y[ny];
+    
     double A[nx][nx], B[nx][nu], C[ny][nx], D[ny][nu];
 
 private: