#include <dynamics_solver.h>

Inheritance diagram for exotica::AbstractDynamicsSolver< T, NX, NU >:

[legend]

Public Types
typedef Eigen::Matrix< T, NX, NU >	ControlDerivative
	Convenience definition for a ControlDerivative. More...

typedef Eigen::Matrix< T, NU, 1 >	ControlVector
	Convenience definition for a ControlVector (dimension NU x 1) More...

typedef Eigen::Matrix< T, NX, NX >	StateDerivative
	Convenience definition for a StateDerivative. More...

typedef Eigen::Matrix< T, NX, 1 >	StateVector
	Convenience definition for a StateVector containing both position and velocity (dimension NX x 1) More...

Public Member Functions
	AbstractDynamicsSolver ()

virtual void	AssignScene (std::shared_ptr< Scene > scene_in)
	Passes the Scene of the PlanningProblem to the DynamicsSolver. More...

void	ClampToStateLimits (Eigen::Ref< Eigen::VectorXd > state_in)
	Clamps the passed in state to the state limits. More...

virtual void	ComputeDerivatives (const StateVector &x, const ControlVector &u)
	Computes derivatives fx, fu, Fx, Fu [single call for efficiency, derivatives can be retrieved with get_fx, get_fu, get_Fx, get_Fu]. More...

virtual Hessian	ddStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)

virtual Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	dStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)
	Return the difference of the StateDelta operation between two state vectors. The ArgumentPosition argument can be used to select whether to take derivative w.r.t. x_1 or x_2. More...

virtual StateVector	F (const StateVector &x, const ControlVector &u)
	State transition function. This internally computes the differential dynamics and applies the chosen integration scheme. More...

virtual StateVector	f (const StateVector &x, const ControlVector &u)=0
	Forward dynamics. This computes the differential dynamics. More...

virtual ControlDerivative	fu (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the control. More...

ControlDerivative	fu_fd (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the control [finite differencing]. More...

virtual Eigen::Tensor< T, 3 >	fuu (const StateVector &x, const ControlVector &u)

virtual StateDerivative	fx (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the state. More...

StateDerivative	fx_fd (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the state [finite differencing]. More...

virtual Eigen::Tensor< T, 3 >	fxu (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fxx (const StateVector &x, const ControlVector &u)

const Eigen::MatrixXd &	get_control_limits ()
	Returns the control limits vector. More...

T	get_dt () const
	Returns integration timestep dt. More...

const ControlDerivative &	get_Fu () const
	Returns derivative Fu computed by ComputeDerivatives. More...

const ControlDerivative &	get_fu () const
	Returns derivative fu computed by ComputeDerivatives. More...

const StateDerivative &	get_Fx () const
	Returns derivative Fx computed by ComputeDerivatives. More...

const StateDerivative &	get_fx () const
	Returns derivative fx computed by ComputeDerivatives. More...

const bool &	get_has_second_order_derivatives () const
	Returns whether second-order derivatives are available. More...

const bool &	get_has_state_limits () const
	Returns whether state limits are available. More...

Integrator	get_integrator () const
	Returns used integration scheme. More...

int	get_num_controls () const
	Returns number of controls. More...

int	get_num_positions () const
	Returns number of positions. More...

int	get_num_state () const
	Returns size of state space (nx) More...

int	get_num_state_derivative () const
	Returns size of derivative vector of state space (ndx) More...

int	get_num_velocities () const
	Returns number of velocities. More...

virtual Eigen::Matrix< T, Eigen::Dynamic, 1 >	GetPosition (Eigen::VectorXdRefConst x_in)
	Returns the position-part of the state vector to update the scene. For types including SE(3) and rotation, convert to the appropriate representation here by overriding this method. More...

virtual void	InstantiateBase (const Initializer &init)
	Instantiates the base properties of the DynamicsSolver. More...

virtual void	Integrate (const StateVector &x, const StateVector &dx, const double dt, StateVector &xout)
	Integrates without performing dynamics. More...

virtual ControlVector	InverseDynamics (const StateVector &state)
	Returns a control vector corresponding to the state vector assuming zero acceleration. More...

void	set_control_limits (Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)
	Sets the control limits. More...

void	set_integrator (Integrator integrator_in)
	Sets integrator type. More...

virtual void	SetDt (double dt_in)
	Sets the timestep dt to be used for integration. More...

void	SetIntegrator (const std::string &integrator_in)
	Sets integrator type based on request string. More...

StateVector	Simulate (const StateVector &x, const ControlVector &u, T t)
	Simulates the dynamic system from starting state x using control u for t seconds. More...

virtual StateVector	StateDelta (const StateVector &x_1, const StateVector &x_2)
	Return the difference of two state vectors. Used when e.g. angle differences need to be wrapped from [-pi; pi] Returns x_1-x_2. More...

void	StateDelta (const StateVector &x_1, const StateVector &x_2, Eigen::VectorXdRef xout)

virtual	~AbstractDynamicsSolver ()

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0

virtual Initializer	GetInitializerTemplate ()=0

	InstantiableBase ()=default

virtual void	InstantiateInternal (const Initializer &init)=0

virtual	~InstantiableBase ()=default

Protected Member Functions
void	InitializeSecondOrderDerivatives ()

virtual StateVector	SimulateOneStep (const StateVector &x, const ControlVector &u)
	Integrates the dynamic system from state x with controls u applied for one timestep dt using the selected integrator. More...

Protected Attributes
Eigen::MatrixXd	control_limits_
	ControlLimits. Default is empty vector. More...

T	dt_ = 0.01
	Internal timestep used for integration. Defaults to 10ms. More...

Eigen::MatrixXd	fu_
	Internal storage of differential dynamics partial derivative fu computed by ComputeDerivatives. More...

Eigen::MatrixXd	Fu_
	Internal storage of state transition partial derivative Fu computed by ComputeDerivatives. More...

Eigen::Tensor< T, 3 >	fuu_default_

Eigen::MatrixXd	fx_
	Internal storage of differential dynamics partial derivative fx computed by ComputeDerivatives. More...

Eigen::MatrixXd	Fx_
	Internal storage of state transition partial derivative Fx computed by ComputeDerivatives. More...

Eigen::Tensor< T, 3 >	fxu_default_

Eigen::Tensor< T, 3 >	fxx_default_

bool	has_second_order_derivatives_ = false
	Whether this solver provides second order derivatives. If false (default), assumed to be all zeros. More...

bool	has_state_limits_ = false
	Whether the solver specifies state limits. More...

Integrator	integrator_ = Integrator::RK1
	Chosen integrator. Defaults to Euler (RK1). More...

int	num_controls_ = -1
	Number of controls in the dynamic system. More...

int	num_positions_ = -1
	Number of positions in the dynamic system. More...

int	num_state_ = -1
	Size of state space (num_positions + num_velocities) More...

int	num_state_derivative_ = -1
	Size of the tangent vector to the state space (2 * num_velocities) More...

int	num_velocities_ = -1
	Number of velocities in the dynamic system. More...

bool	second_order_derivatives_initialized_ = false
	Whether fxx, fxu and fuu have been initialized to 0. More...

Eigen::VectorXd	state_limits_lower_
	Lower state limits (configuration and velocity) More...

Eigen::VectorXd	state_limits_upper_
	Upper state limits (configuration and velocity) More...

Private Attributes
bool	control_limits_initialized_ = false

Hessian	ddStateDelta_

Eigen::MatrixXd	dStateDelta_

Eigen::VectorXd	raw_control_limits_high_

Eigen::VectorXd	raw_control_limits_low_

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default

Detailed Description

template<typename T, int NX, int NU>
class exotica::AbstractDynamicsSolver< T, NX, NU >

Definition at line 55 of file dynamics_solver.h.

Member Typedef Documentation

◆ ControlDerivative

template<typename T , int NX, int NU>

typedef Eigen::Matrix<T, NX, NU> exotica::AbstractDynamicsSolver< T, NX, NU >::ControlDerivative

Convenience definition for a ControlDerivative.

Definition at line 61 of file dynamics_solver.h.

◆ ControlVector

template<typename T , int NX, int NU>

typedef Eigen::Matrix<T, NU, 1> exotica::AbstractDynamicsSolver< T, NX, NU >::ControlVector

Convenience definition for a ControlVector (dimension NU x 1)

Definition at line 59 of file dynamics_solver.h.

◆ StateDerivative

template<typename T , int NX, int NU>

typedef Eigen::Matrix<T, NX, NX> exotica::AbstractDynamicsSolver< T, NX, NU >::StateDerivative

Convenience definition for a StateDerivative.

Definition at line 60 of file dynamics_solver.h.

◆ StateVector

template<typename T , int NX, int NU>

typedef Eigen::Matrix<T, NX, 1> exotica::AbstractDynamicsSolver< T, NX, NU >::StateVector

Convenience definition for a StateVector containing both position and velocity (dimension NX x 1)

Definition at line 58 of file dynamics_solver.h.

Constructor & Destructor Documentation

◆ AbstractDynamicsSolver()

template<typename T , int NX, int NU>

exotica::AbstractDynamicsSolver< T, NX, NU >::AbstractDynamicsSolver ( )

default

◆ ~AbstractDynamicsSolver()

template<typename T , int NX, int NU>

exotica::AbstractDynamicsSolver< T, NX, NU >::~AbstractDynamicsSolver ( )

virtualdefault

Member Function Documentation

◆ AssignScene()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::AssignScene ( std::shared_ptr< Scene > scene_in )

virtual

Passes the Scene of the PlanningProblem to the DynamicsSolver.

Called immediately after creation of the DynamicsSolver plug-in using a pointer to the Scene of the PlanningProblem. This can be used to extract required information from the Scene, e.g., URDF, dimensionality, etc.

Definition at line 58 of file dynamics_solver.cpp.

◆ ClampToStateLimits()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::ClampToStateLimits ( Eigen::Ref< Eigen::VectorXd > state_in )

Clamps the passed in state to the state limits.

Definition at line 279 of file dynamics_solver.cpp.

◆ ComputeDerivatives()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::ComputeDerivatives	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

Computes derivatives fx, fu, Fx, Fu [single call for efficiency, derivatives can be retrieved with get_fx, get_fu, get_Fx, get_Fu].

Definition at line 407 of file dynamics_solver.cpp.

◆ ddStateDelta()

template<typename T , int NX, int NU>

virtual Hessian exotica::AbstractDynamicsSolver< T, NX, NU >::ddStateDelta	(	const StateVector &	x_1,
		const StateVector &	x_2,
		const ArgumentPosition	first_or_second
	)

inlinevirtual

Definition at line 162 of file dynamics_solver.h.

◆ dStateDelta()

template<typename T , int NX, int NU>

virtual Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> exotica::AbstractDynamicsSolver< T, NX, NU >::dStateDelta	(	const StateVector &	x_1,
		const StateVector &	x_2,
		const ArgumentPosition	first_or_second
	)

inlinevirtual

Return the difference of the StateDelta operation between two state vectors. The ArgumentPosition argument can be used to select whether to take derivative w.r.t. x_1 or x_2.

Definition at line 149 of file dynamics_solver.h.

◆ F()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, 1 > exotica::AbstractDynamicsSolver< T, NX, NU >::F	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

State transition function. This internally computes the differential dynamics and applies the chosen integration scheme.

Definition at line 63 of file dynamics_solver.cpp.

◆ f()

template<typename T , int NX, int NU>

virtual StateVector exotica::AbstractDynamicsSolver< T, NX, NU >::f	(	const StateVector &	x,
		const ControlVector &	u
	)

pure virtual

Forward dynamics. This computes the differential dynamics.

◆ fu()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, NU > exotica::AbstractDynamicsSolver< T, NX, NU >::fu	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

Derivative of the forward dynamics w.r.t. the control.

Definition at line 401 of file dynamics_solver.cpp.

◆ fu_fd()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, NU > exotica::AbstractDynamicsSolver< T, NX, NU >::fu_fd	(	const StateVector &	x,
		const ControlVector &	u
	)

Derivative of the forward dynamics w.r.t. the control [finite differencing].

Definition at line 379 of file dynamics_solver.cpp.

◆ fuu()

template<typename T , int NX, int NU>

Eigen::Tensor< T, 3 > exotica::AbstractDynamicsSolver< T, NX, NU >::fuu	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

Definition at line 320 of file dynamics_solver.cpp.

◆ fx()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, NX > exotica::AbstractDynamicsSolver< T, NX, NU >::fx	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

Derivative of the forward dynamics w.r.t. the state.

Definition at line 373 of file dynamics_solver.cpp.

◆ fx_fd()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, NX > exotica::AbstractDynamicsSolver< T, NX, NU >::fx_fd	(	const StateVector &	x,
		const ControlVector &	u
	)

Derivative of the forward dynamics w.r.t. the state [finite differencing].

Definition at line 340 of file dynamics_solver.cpp.

◆ fxu()

template<typename T , int NX, int NU>

Eigen::Tensor< T, 3 > exotica::AbstractDynamicsSolver< T, NX, NU >::fxu	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

Definition at line 327 of file dynamics_solver.cpp.

◆ fxx()

template<typename T , int NX, int NU>

Eigen::Tensor< T, 3 > exotica::AbstractDynamicsSolver< T, NX, NU >::fxx	(	const StateVector &	x,
		const ControlVector &	u
	)

virtual

Definition at line 313 of file dynamics_solver.cpp.

◆ get_control_limits()

template<typename T , int NX, int NU>

const Eigen::MatrixXd & exotica::AbstractDynamicsSolver< T, NX, NU >::get_control_limits

Returns the control limits vector.

Definition at line 247 of file dynamics_solver.cpp.

◆ get_dt()

template<typename T , int NX, int NU>

T exotica::AbstractDynamicsSolver< T, NX, NU >::get_dt

Returns integration timestep dt.

Definition at line 214 of file dynamics_solver.cpp.

◆ get_Fu()

template<typename T , int NX, int NU>

const Eigen::Matrix< T, NX, NU > & exotica::AbstractDynamicsSolver< T, NX, NU >::get_Fu

Returns derivative Fu computed by ComputeDerivatives.

Definition at line 470 of file dynamics_solver.cpp.

◆ get_fu()

template<typename T , int NX, int NU>

const Eigen::Matrix< T, NX, NU > & exotica::AbstractDynamicsSolver< T, NX, NU >::get_fu

Returns derivative fu computed by ComputeDerivatives.

Definition at line 458 of file dynamics_solver.cpp.

◆ get_Fx()

template<typename T , int NX, int NU>

const Eigen::Matrix< T, NX, NX > & exotica::AbstractDynamicsSolver< T, NX, NU >::get_Fx

Returns derivative Fx computed by ComputeDerivatives.

Definition at line 464 of file dynamics_solver.cpp.

◆ get_fx()

template<typename T , int NX, int NU>

const Eigen::Matrix< T, NX, NX > & exotica::AbstractDynamicsSolver< T, NX, NU >::get_fx

Returns derivative fx computed by ComputeDerivatives.

Definition at line 452 of file dynamics_solver.cpp.

◆ get_has_second_order_derivatives()

template<typename T , int NX, int NU>

const bool& exotica::AbstractDynamicsSolver< T, NX, NU >::get_has_second_order_derivatives ( ) const

inline

Returns whether second-order derivatives are available.

Definition at line 111 of file dynamics_solver.h.

◆ get_has_state_limits()

template<typename T , int NX, int NU>

const bool& exotica::AbstractDynamicsSolver< T, NX, NU >::get_has_state_limits ( ) const

inline

Returns whether state limits are available.

Definition at line 214 of file dynamics_solver.h.

◆ get_integrator()

template<typename T , int NX, int NU>

Integrator exotica::AbstractDynamicsSolver< T, NX, NU >::get_integrator

Returns used integration scheme.

Definition at line 220 of file dynamics_solver.cpp.

◆ get_num_controls()

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::get_num_controls

Returns number of controls.

Definition at line 178 of file dynamics_solver.cpp.

◆ get_num_positions()

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::get_num_positions

Returns number of positions.

Definition at line 184 of file dynamics_solver.cpp.

◆ get_num_state()

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::get_num_state

Returns size of state space (nx)

Definition at line 196 of file dynamics_solver.cpp.

◆ get_num_state_derivative()

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::get_num_state_derivative

Returns size of derivative vector of state space (ndx)

Definition at line 205 of file dynamics_solver.cpp.

◆ get_num_velocities()

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::get_num_velocities

Returns number of velocities.

Definition at line 190 of file dynamics_solver.cpp.

◆ GetPosition()

template<typename T , int NX, int NU>

Eigen::Matrix< T, Eigen::Dynamic, 1 > exotica::AbstractDynamicsSolver< T, NX, NU >::GetPosition ( Eigen::VectorXdRefConst x_in )

virtual

Returns the position-part of the state vector to update the scene. For types including SE(3) and rotation, convert to the appropriate representation here by overriding this method.

Definition at line 171 of file dynamics_solver.cpp.

◆ InitializeSecondOrderDerivatives()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::InitializeSecondOrderDerivatives

protected

Definition at line 290 of file dynamics_solver.cpp.

◆ InstantiateBase()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::InstantiateBase ( const Initializer & init )

virtual

Instantiates the base properties of the DynamicsSolver.

Reimplemented from exotica::InstantiableBase.

Definition at line 42 of file dynamics_solver.cpp.

◆ Integrate()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::Integrate	(	const StateVector &	x,
		const StateVector &	dx,
		const double	dt,
		StateVector &	xout
	)

virtual

Integrates without performing dynamics.

Definition at line 122 of file dynamics_solver.cpp.

◆ InverseDynamics()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NU, 1 > exotica::AbstractDynamicsSolver< T, NX, NU >::InverseDynamics ( const StateVector & state )

virtual

Returns a control vector corresponding to the state vector assuming zero acceleration.

Definition at line 334 of file dynamics_solver.cpp.

◆ set_control_limits()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::set_control_limits	(	Eigen::VectorXdRefConst	control_limits_low,
		Eigen::VectorXdRefConst	control_limits_high
	)

Sets the control limits.

Definition at line 255 of file dynamics_solver.cpp.

◆ set_integrator()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::set_integrator ( Integrator integrator_in )

Sets integrator type.

Definition at line 226 of file dynamics_solver.cpp.

◆ SetDt()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::SetDt ( double dt_in )

virtual

Sets the timestep dt to be used for integration.

Definition at line 70 of file dynamics_solver.cpp.

◆ SetIntegrator()

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::SetIntegrator ( const std::string & integrator_in )

Sets integrator type based on request string.

Definition at line 232 of file dynamics_solver.cpp.

◆ Simulate()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, 1 > exotica::AbstractDynamicsSolver< T, NX, NU >::Simulate	(	const StateVector &	x,
		const ControlVector &	u,
		T	t
	)

Simulates the dynamic system from starting state x using control u for t seconds.

Simulates the system and steps the simulation by timesteps dt for a total time of t using the specified integration scheme starting from state x and with controls u.

Definition at line 159 of file dynamics_solver.cpp.

◆ SimulateOneStep()

template<typename T , int NX, int NU>

Eigen::Matrix< T, NX, 1 > exotica::AbstractDynamicsSolver< T, NX, NU >::SimulateOneStep	(	const StateVector &	x,
		const ControlVector &	u
	)

protectedvirtual

Integrates the dynamic system from state x with controls u applied for one timestep dt using the selected integrator.

Definition at line 77 of file dynamics_solver.cpp.

◆ StateDelta() [1/2]

template<typename T , int NX, int NU>

virtual StateVector exotica::AbstractDynamicsSolver< T, NX, NU >::StateDelta	(	const StateVector &	x_1,
		const StateVector &	x_2
	)

inlinevirtual

Return the difference of two state vectors. Used when e.g. angle differences need to be wrapped from [-pi; pi] Returns x_1-x_2.

Definition at line 136 of file dynamics_solver.h.

◆ StateDelta() [2/2]

template<typename T , int NX, int NU>

void exotica::AbstractDynamicsSolver< T, NX, NU >::StateDelta	(	const StateVector &	x_1,
		const StateVector &	x_2,
		Eigen::VectorXdRef	xout
	)

inline

Definition at line 142 of file dynamics_solver.h.

Member Data Documentation

◆ control_limits_

template<typename T , int NX, int NU>

Eigen::MatrixXd exotica::AbstractDynamicsSolver< T, NX, NU >::control_limits_

protected

ControlLimits. Default is empty vector.

Definition at line 252 of file dynamics_solver.h.

◆ control_limits_initialized_

template<typename T , int NX, int NU>

bool exotica::AbstractDynamicsSolver< T, NX, NU >::control_limits_initialized_ = false

private

Definition at line 229 of file dynamics_solver.h.

◆ ddStateDelta_

template<typename T , int NX, int NU>

Hessian exotica::AbstractDynamicsSolver< T, NX, NU >::ddStateDelta_

private

Definition at line 232 of file dynamics_solver.h.

◆ dStateDelta_

template<typename T , int NX, int NU>

Eigen::MatrixXd exotica::AbstractDynamicsSolver< T, NX, NU >::dStateDelta_

private

Definition at line 231 of file dynamics_solver.h.

◆ dt_

template<typename T , int NX, int NU>

T exotica::AbstractDynamicsSolver< T, NX, NU >::dt_ = 0.01

protected

Internal timestep used for integration. Defaults to 10ms.

Definition at line 248 of file dynamics_solver.h.

◆ fu_

template<typename T , int NX, int NU>

Eigen::MatrixXd exotica::AbstractDynamicsSolver< T, NX, NU >::fu_

protected

Internal storage of differential dynamics partial derivative fu computed by ComputeDerivatives.

Definition at line 262 of file dynamics_solver.h.

◆ Fu_

template<typename T , int NX, int NU>

Eigen::MatrixXd exotica::AbstractDynamicsSolver< T, NX, NU >::Fu_

protected

Internal storage of state transition partial derivative Fu computed by ComputeDerivatives.

Definition at line 264 of file dynamics_solver.h.

◆ fuu_default_

template<typename T , int NX, int NU>

Eigen::Tensor<T, 3> exotica::AbstractDynamicsSolver< T, NX, NU >::fuu_default_

protected

Definition at line 259 of file dynamics_solver.h.

◆ fx_

template<typename T , int NX, int NU>

Eigen::MatrixXd exotica::AbstractDynamicsSolver< T, NX, NU >::fx_

protected

Internal storage of differential dynamics partial derivative fx computed by ComputeDerivatives.

Definition at line 261 of file dynamics_solver.h.

◆ Fx_

template<typename T , int NX, int NU>

Eigen::MatrixXd exotica::AbstractDynamicsSolver< T, NX, NU >::Fx_

protected

Internal storage of state transition partial derivative Fx computed by ComputeDerivatives.

Definition at line 263 of file dynamics_solver.h.

◆ fxu_default_

template<typename T , int NX, int NU>

Eigen::Tensor<T, 3> exotica::AbstractDynamicsSolver< T, NX, NU >::fxu_default_

protected

Definition at line 259 of file dynamics_solver.h.

◆ fxx_default_

template<typename T , int NX, int NU>

Eigen::Tensor<T, 3> exotica::AbstractDynamicsSolver< T, NX, NU >::fxx_default_

protected

Definition at line 259 of file dynamics_solver.h.

◆ has_second_order_derivatives_

template<typename T , int NX, int NU>

bool exotica::AbstractDynamicsSolver< T, NX, NU >::has_second_order_derivatives_ = false

protected

Whether this solver provides second order derivatives. If false (default), assumed to be all zeros.

Definition at line 241 of file dynamics_solver.h.

◆ has_state_limits_

template<typename T , int NX, int NU>

bool exotica::AbstractDynamicsSolver< T, NX, NU >::has_state_limits_ = false

protected

Whether the solver specifies state limits.

Definition at line 244 of file dynamics_solver.h.

◆ integrator_

template<typename T , int NX, int NU>

Integrator exotica::AbstractDynamicsSolver< T, NX, NU >::integrator_ = Integrator::RK1

protected

Chosen integrator. Defaults to Euler (RK1).

Definition at line 249 of file dynamics_solver.h.

◆ num_controls_

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::num_controls_ = -1

protected

Number of controls in the dynamic system.

Definition at line 235 of file dynamics_solver.h.

◆ num_positions_

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::num_positions_ = -1

protected

Number of positions in the dynamic system.

Definition at line 236 of file dynamics_solver.h.

◆ num_state_

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::num_state_ = -1

protected

Size of state space (num_positions + num_velocities)

Definition at line 238 of file dynamics_solver.h.

◆ num_state_derivative_

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::num_state_derivative_ = -1

protected

Size of the tangent vector to the state space (2 * num_velocities)

Definition at line 239 of file dynamics_solver.h.

◆ num_velocities_

template<typename T , int NX, int NU>

int exotica::AbstractDynamicsSolver< T, NX, NU >::num_velocities_ = -1

protected

Number of velocities in the dynamic system.

Definition at line 237 of file dynamics_solver.h.

◆ raw_control_limits_high_

template<typename T , int NX, int NU>

Eigen::VectorXd exotica::AbstractDynamicsSolver< T, NX, NU >::raw_control_limits_high_

private

Definition at line 230 of file dynamics_solver.h.

◆ raw_control_limits_low_

template<typename T , int NX, int NU>

Eigen::VectorXd exotica::AbstractDynamicsSolver< T, NX, NU >::raw_control_limits_low_

private

Definition at line 230 of file dynamics_solver.h.

◆ second_order_derivatives_initialized_

template<typename T , int NX, int NU>

bool exotica::AbstractDynamicsSolver< T, NX, NU >::second_order_derivatives_initialized_ = false

protected

Whether fxx, fxu and fuu have been initialized to 0.

Definition at line 242 of file dynamics_solver.h.

◆ state_limits_lower_

template<typename T , int NX, int NU>

Eigen::VectorXd exotica::AbstractDynamicsSolver< T, NX, NU >::state_limits_lower_

protected

Lower state limits (configuration and velocity)

Definition at line 245 of file dynamics_solver.h.

◆ state_limits_upper_

template<typename T , int NX, int NU>

Eigen::VectorXd exotica::AbstractDynamicsSolver< T, NX, NU >::state_limits_upper_

protected

Upper state limits (configuration and velocity)

Definition at line 246 of file dynamics_solver.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

template<typename T, int NX, int NU> class exotica::AbstractDynamicsSolver< T, NX, NU >

Member Typedef Documentation

◆ ControlDerivative

◆ ControlVector

◆ StateDerivative

◆ StateVector

Constructor & Destructor Documentation

◆ AbstractDynamicsSolver()

◆ ~AbstractDynamicsSolver()

Member Function Documentation

◆ AssignScene()

◆ ClampToStateLimits()

◆ ComputeDerivatives()

◆ ddStateDelta()

◆ dStateDelta()

◆ F()

◆ f()

◆ fu()

◆ fu_fd()

◆ fuu()

◆ fx()

◆ fx_fd()

◆ fxu()

◆ fxx()

◆ get_control_limits()

◆ get_dt()

◆ get_Fu()

◆ get_fu()

◆ get_Fx()

◆ get_fx()

◆ get_has_second_order_derivatives()

◆ get_has_state_limits()

◆ get_integrator()

◆ get_num_controls()

◆ get_num_positions()

◆ get_num_state()

◆ get_num_state_derivative()

◆ get_num_velocities()

◆ GetPosition()

◆ InitializeSecondOrderDerivatives()

◆ InstantiateBase()

◆ Integrate()

◆ InverseDynamics()

◆ set_control_limits()

◆ set_integrator()

◆ SetDt()

◆ SetIntegrator()

◆ Simulate()

◆ SimulateOneStep()

◆ StateDelta() [1/2]

◆ StateDelta() [2/2]

Member Data Documentation

◆ control_limits_

◆ control_limits_initialized_

◆ ddStateDelta_

◆ dStateDelta_

◆ dt_

◆ fu_

◆ Fu_

◆ fuu_default_

◆ fx_

◆ Fx_

◆ fxu_default_

◆ fxx_default_

◆ has_second_order_derivatives_

◆ has_state_limits_

◆ integrator_

◆ num_controls_

◆ num_positions_

◆ num_state_

◆ num_state_derivative_

◆ num_velocities_

◆ raw_control_limits_high_

template<typename T, int NX, int NU>
class exotica::AbstractDynamicsSolver< T, NX, NU >