#include <cartpole_dynamics_solver.h>

Inheritance diagram for exotica::CartpoleDynamicsSolver:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene_in) override

	CartpoleDynamicsSolver ()

StateVector	f (const StateVector &x, const ControlVector &u) override
	Computes the forward dynamics of the system. More...

Eigen::MatrixXd	fu (const StateVector &x, const ControlVector &u) override
	Computes the dynamics derivative w.r.t .the control input u. More...

Eigen::MatrixXd	fx (const StateVector &x, const ControlVector &u) override
	Computes the dynamics derivative w.r.t .the state x. More...

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

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

Public Member Functions inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
	AbstractDynamicsSolver ()

virtual void	AssignScene (std::shared_ptr< Scene > scene_in)

void	ClampToStateLimits (Eigen::Ref< Eigen::VectorXd > state_in)

virtual void	ComputeDerivatives (const StateVector &x, const ControlVector &u)

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)

virtual StateVector	F (const StateVector &x, const ControlVector &u)

ControlDerivative	fu_fd (const StateVector &x, const ControlVector &u)

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

StateDerivative	fx_fd (const StateVector &x, const ControlVector &u)

const Eigen::MatrixXd &	get_control_limits ()

T	get_dt () const

const ControlDerivative &	get_Fu () const

const ControlDerivative &	get_fu () const

const StateDerivative &	get_Fx () const

const StateDerivative &	get_fx () const

const bool &	get_has_second_order_derivatives () const

const bool &	get_has_state_limits () const

Integrator	get_integrator () const

int	get_num_controls () const

int	get_num_positions () const

int	get_num_state () const

int	get_num_state_derivative () const

int	get_num_velocities () const

virtual Eigen::Matrix< T, Eigen::Dynamic, 1 >	GetPosition (Eigen::VectorXdRefConst x_in)

virtual void	InstantiateBase (const Initializer &init)

virtual void	Integrate (const StateVector &x, const StateVector &dx, const double dt, StateVector &xout)

virtual ControlVector	InverseDynamics (const StateVector &state)

void	set_control_limits (Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)

void	set_integrator (Integrator integrator_in)

virtual void	SetDt (double dt_in)

void	SetIntegrator (const std::string &integrator_in)

StateVector	Simulate (const StateVector &x, const ControlVector &u, T t)

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

virtual StateVector	StateDelta (const StateVector &x_1, const StateVector &x_2)

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

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< CartpoleDynamicsSolverInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const CartpoleDynamicsSolverInitializer &	GetParameters () const

virtual void	Instantiate (const CartpoleDynamicsSolverInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Attributes
double	g_ = 9.81

double	l_ = 1
	!< Pole mass (kg) More...

double	m_c_ = 1
	!< Gravity (m/s^2) More...

double	m_p_ = 1
	!< Cart mass (kg) More...

Additional Inherited Members
Public Types inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
typedef Eigen::Matrix< T, NX, NU >	ControlDerivative

typedef Eigen::Matrix< T, NU, 1 >	ControlVector

typedef Eigen::Matrix< T, NX, NX >	StateDerivative

typedef Eigen::Matrix< T, NX, 1 >	StateVector

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Member Functions inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
void	InitializeSecondOrderDerivatives ()

virtual StateVector	SimulateOneStep (const StateVector &x, const ControlVector &u)

Protected Attributes inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
Eigen::MatrixXd	control_limits_

T	dt_

Eigen::MatrixXd	Fu_

Eigen::MatrixXd	fu_

Eigen::Tensor< T, 3 >	fuu_default_

Eigen::MatrixXd	fx_

Eigen::MatrixXd	Fx_

Eigen::Tensor< T, 3 >	fxu_default_

Eigen::Tensor< T, 3 >	fxx_default_

bool	has_second_order_derivatives_

bool	has_state_limits_

Integrator	integrator_

int	num_controls_

int	num_positions_

int	num_state_

int	num_state_derivative_

int	num_velocities_

bool	second_order_derivatives_initialized_

Eigen::VectorXd	state_limits_lower_

Eigen::VectorXd	state_limits_upper_

Protected Attributes inherited from exotica::Instantiable< CartpoleDynamicsSolverInitializer >
CartpoleDynamicsSolverInitializer	parameters_

Detailed Description

StateVector X ∈ R^4 = [x, theta, x_dot, theta_dot] Refer to http://underactuated.mit.edu/acrobot.html#cart_pole for a derivation of the cartpole dynamics.

Definition at line 43 of file cartpole_dynamics_solver.h.

Constructor & Destructor Documentation

exotica::CartpoleDynamicsSolver::CartpoleDynamicsSolver ( )

Definition at line 36 of file cartpole_dynamics_solver.cpp.

Member Function Documentation

void exotica::CartpoleDynamicsSolver::AssignScene ( ScenePtr scene_in )

override

Definition at line 44 of file cartpole_dynamics_solver.cpp.

Eigen::VectorXd exotica::CartpoleDynamicsSolver::f	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Computes the forward dynamics of the system.

Parameters

x	The state vector.
u	The control input.

Returns: The dynamics transition function.

Implements exotica::AbstractDynamicsSolver< class, NX, NU >.

Definition at line 52 of file cartpole_dynamics_solver.cpp.

Eigen::MatrixXd exotica::CartpoleDynamicsSolver::fu	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Computes the dynamics derivative w.r.t .the control input u.

Parameters

x	The state vector.
u	The control input

Returns: The derivative of the dynamics function w.r.t. u evaluated at (x, u).

Reimplemented from exotica::AbstractDynamicsSolver< class, NX, NU >.

Definition at line 100 of file cartpole_dynamics_solver.cpp.

Eigen::MatrixXd exotica::CartpoleDynamicsSolver::fx	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Computes the dynamics derivative w.r.t .the state x.

Parameters

x	The state vector.
u	The control input.

Returns: The derivative of the dynamics function w.r.t. x evaluated at (x, u).

Reimplemented from exotica::AbstractDynamicsSolver< class, NX, NU >.

Definition at line 74 of file cartpole_dynamics_solver.cpp.

Eigen::Tensor< double, 3 > exotica::CartpoleDynamicsSolver::fxu	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Reimplemented from exotica::AbstractDynamicsSolver< class, NX, NU >.

Definition at line 159 of file cartpole_dynamics_solver.cpp.

Eigen::Tensor< double, 3 > exotica::CartpoleDynamicsSolver::fxx	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Reimplemented from exotica::AbstractDynamicsSolver< class, NX, NU >.

Definition at line 117 of file cartpole_dynamics_solver.cpp.

Member Data Documentation

double exotica::CartpoleDynamicsSolver::g_ = 9.81

private

Definition at line 71 of file cartpole_dynamics_solver.h.

double exotica::CartpoleDynamicsSolver::l_ = 1

private

!< Pole mass (kg)

Definition at line 74 of file cartpole_dynamics_solver.h.

double exotica::CartpoleDynamicsSolver::m_c_ = 1

private

!< Gravity (m/s^2)

Definition at line 72 of file cartpole_dynamics_solver.h.

double exotica::CartpoleDynamicsSolver::m_p_ = 1

private

!< Cart mass (kg)

Definition at line 73 of file cartpole_dynamics_solver.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation