Linearizer.hpp File Reference

Linearization of dynamics around operating point. More...

#include <icarus/core/Error.hpp>
#include <icarus/sim/SimulatorConfig.hpp>
#include <icarus/staging/StagingTypes.hpp>
#include <icarus/staging/SymbolicSimulatorCore.hpp>
#include <janus/math/AutoDiff.hpp>
#include <Eigen/Dense>
#include <memory>
#include <string>
#include <vector>
#include <icarus/sim/Simulator.hpp>

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Classes
class	icarus::staging::Linearizer
	Abstract linearizer interface. More...
class	icarus::staging::FiniteDifferenceLinearizer
	Linearizer using finite differences. More...
struct	icarus::staging::FiniteDifferenceLinearizer::Options
class	icarus::staging::SymbolicLinearizer
	Linearizer using symbolic Jacobians. More...

Namespaces
namespace	icarus
namespace	icarus::staging

Functions
std::unique_ptr< Linearizer >	icarus::staging::CreateLinearizer (bool symbolic_enabled)
	Create appropriate linearizer based on configuration.

Detailed Description

Linearization of dynamics around operating point.

Part of Phase 4: Staging Implementation.

Computes linear state-space model (A, B, C, D) at current operating point. Two modes:

• Numeric (FiniteDifferenceLinearizer): Uses central differences
• Symbolic (SymbolicLinearizer): Uses exact Jacobians via janus::jacobian