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successor.jl
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successor.jl
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# =============================
# Successor for discrete system
# =============================
"""
successor(system::DiscreteIdentitySystem, x::AbstractVector)
Return the successor state of a `DiscreteIdentitySystem`.
### Input
- `system` -- `DiscreteIdentitySystem`
- `x` -- state (it should be any vector type)
### Output
The same state `x`.
"""
function successor(system::DiscreteIdentitySystem, x::AbstractVector)
!_is_conformable_state(system, x) && _argument_error(:x)
return x
end
"""
successor(system::ConstrainedDiscreteIdentitySystem, x::AbstractVector;
[check_constraints]=true)
Return the successor state of a `ConstrainedDiscreteIdentitySystem`.
### Input
- `system` -- `ConstrainedDiscreteIdentitySystem`
- `x` -- state (it should be any vector type)
- `check_constraints` -- (optional, default: `true`) check if the state belongs to
the state set
### Output
The same state `x`.
"""
function successor(system::ConstrainedDiscreteIdentitySystem, x::AbstractVector;
check_constraints::Bool=true)
!_is_conformable_state(system, x) && _argument_error(:x)
if check_constraints
!_in_stateset(system, x) && _argument_error(:x, :X)
end
return x
end
"""
successor(system::AbstractDiscreteSystem, x::AbstractVector;
[check_constraints]=true)
Return the successor state of an `AbstractDiscreteSystem`.
### Input
- `system` -- `AbstractDiscreteSystem`
- `x` -- state (it should be any vector type)
- `check_constraints` -- (optional, default: `true`) check if the state belongs to
the state set
### Output
The result of applying the system to state `x`.
"""
function successor(system::AbstractDiscreteSystem, x::AbstractVector; kwargs...)
return _instantiate(system, x; kwargs...)
end
"""
successor(system::AbstractDiscreteSystem, x::AbstractVector, u::AbstractVector;
[check_constraints]=true)
Return the successor state of an `AbstractDiscreteSystem`.
### Input
- `system` -- `AbstractDiscreteSystem`
- `x` -- state (it should be any vector type)
- `u` -- input (it should be any vector type) or noise, if `system`
is not controlled
- `check_constraints` -- (optional, default: `true`) check if the state belongs to
the state set
### Output
The result of applying the system to state `x` and input `u`.
### Notes
If the system is not controlled but noisy, the input `u` is interpreted as noise.
"""
function successor(system::AbstractDiscreteSystem, x::AbstractVector, u::AbstractVector; kwargs...)
return _instantiate(system, x, u; kwargs...)
end
"""
successor(system::AbstractDiscreteSystem,
x::AbstractVector, u::AbstractVector, w::AbstractVector; [check_constraints]=true)
Return the successor state of an `AbstractDiscreteSystem`.
### Input
- `system` -- `AbstractDiscreteSystem`
- `x` -- state (it should be any vector type)
- `u` -- input (it should be any vector type)
- `w` -- noise (it should be any vector type)
- `check_constraints` -- (optional, default: `true`) check if the state belongs to
the state set
### Output
The result of applying the system to state `x`, input `u` and noise `w`.
"""
function successor(system::AbstractDiscreteSystem, x::AbstractVector, u::AbstractVector,
w::AbstractVector; kwargs...)
return _instantiate(system, x, u, w; kwargs...)
end