Interface for a state simulator structure that performs numerical integration of not-closed-form state variables. More...

#include <state_sim.h>

Inheritance diagram for tuw::StateSim:

[legend]

Public Member Functions
virtual void	advance (double _arc)=0
	Performs one simulation step to parametrized arc length _arc. More...

virtual void	advanceSet0 (const double &_tEnd, const double &_dt)

virtual StateSimUPtr	cloneStateSim () const =0
	Clone-to-base-class-ptr function. More...

StateSim &	operator= (const StateSim &)=default

StateSim &	operator= (StateSim &&)=delete

virtual ParamFuncs *	paramFuncs ()=0
	Returns (if applicable) reference of the parametric functions structure. Otherwise returns nullptr. More...

virtual ParamFuncsDist *	paramFuncsDist ()=0
	Returns (if applicable) reference of the parametric functions distance-extended structure. Otherwise returns nullptr. More...

virtual void	setDiscrType (const RungeKutta::DiscretizationType &_discrType)=0
	Set discretization type used in the simulation. More...

virtual void	setState (StateSPtr &_otherState)=0
	Sets the state variables to the values of _otherState. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable). More...

virtual void	setStateCf (const double &_arc, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::AFTER_LAST)=0
	Sets closed-form state at arc _arc. More...

virtual void	setStateCfNmStep (const double &_arc, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::AFTER_LAST)

virtual State &	state0 ()=0
	Reference to the initial state. More...

virtual double	stateArc () const =0
	Value of the current arc parametrization of the state. More...

virtual State &	stateCf ()=0
	Reference to the actual closed-form state. More...

virtual double	stateDist () const =0
	Value of the current traveled distance of the state. More...

virtual State &	stateNm ()=0
	Reference to the actual numerical-computed state. More...

	StateSim ()=default

	StateSim (const StateSim &)=default

	StateSim (StateSim &&)=delete

virtual void	toState0 ()=0
	Resets entire state to state0. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable). More...

virtual	~StateSim ()=default

Public Member Functions inherited from tuw::State
virtual StateSPtr	cloneState () const =0
	Clone-to-base-class-ptr function. More...

void	fromEIGENVec (const Eigen::VectorXd &_vec)
	Copies all values from an Eigen vector. The valueSize of the State object has to be equal with the Eigen vector size. More...

void	fromSTLVec (const std::vector< double > &_vec)
	Copies all values from an STL vector. The valueSize of the State object has to be equal with the STL vector size. More...

State &	operator= (const State &)=default

State &	operator= (State &&)=default

virtual void	resize (const size_t &_i)
	Resizes the array. More...

	State (State *_parent)

	State ()

	State (const State &)=default

	State (State &&)=default

virtual StateSPtr &	state (const std::size_t &_i)
	Access sub-state based on index _i. More...

virtual size_t	stateSize () const
	Size of the sub-states. More...

void	toEIGENVec (Eigen::VectorXd &_vec)
	Converts all the array values to an Eigen vector. More...

void	toSTLVec (std::vector< double > &_vec)
	Converts all the array values to an STL vector. More...

virtual void	updateSize ()
	Performs internal manipulation when any of the underlying arrays are being resized. More...

virtual double &	value (const std::size_t &_i)=0
	Access state variable based on index _i. More...

virtual const double &	value (const std::size_t &_i) const =0
	Const access state variable based on index _i. More...

virtual size_t	valueSize () const =0
	Size of the state variables. More...

virtual	~State ()=default

Private Member Functions
virtual State &	stateNmDelta (const double &_dArc)=0
	Computes numerical discrete state transition (return) based on internal closed-form state (stateCf ) and discretization interval _dArc. More...

virtual State &	stateNmDot ()=0
	Computes numerical continuous arc state transition (return) based on internal closed-form state (stateCf ). More...

Friends
template<std::size_t StateSize, std::size_t RKOrder, typename... RKCoeff>
void	RungeKutta::discretize (StateSim &_stateSim, const double &_arc)

template<std::size_t StateSize, std::size_t StateNmSize>
class	StateSimTemplate

Additional Inherited Members
Static Public Member Functions inherited from tuw::State
static std::vector< double > &	minus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...

static Eigen::VectorXd &	minus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...

static State &	minus (State &_lhs, State &_rhs, State &_ans)
	Performs substraction. Answer variable, left operand and right operand are required to have the same valueSize. More...

static std::vector< double > &	plus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...

static Eigen::VectorXd &	plus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...

static State &	plus (State &_lhs, State &_rhs, State &_ans)
	Performs addition. Answer variable, left operand and right operand are required to have the same valueSize. More...

Protected Member Functions inherited from tuw::State
void	callRootUpdateSize ()
	Calls (if present) the parent updateSize procedure. Otherwise performs root updateSize. More...

Protected Attributes inherited from tuw::State
State *	parent_
	Pointer to the parent State structure. More...

Detailed Description

Interface for a state simulator structure that performs numerical integration of not-closed-form state variables.

Todo:: cout the the state variables (horizontally) (override to split on Nm and Cf?)

Definition at line 58 of file state_sim.h.

Constructor & Destructor Documentation

tuw::StateSim::StateSim ( )

default

virtual tuw::StateSim::~StateSim ( )

virtualdefault

tuw::StateSim::StateSim ( const StateSim & )

default

tuw::StateSim::StateSim ( StateSim && )

delete

Member Function Documentation

virtual void tuw::StateSim::advance ( double _arc )

pure virtual

Performs one simulation step to parametrized arc length _arc.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

virtual void tuw::StateSim::advanceSet0	(	const double &	_tEnd,
		const double &	_dt
	)

inlinevirtual

Definition at line 113 of file state_sim.h.

virtual StateSimUPtr tuw::StateSim::cloneStateSim ( ) const

pure virtual

Clone-to-base-class-ptr function.

StateSim& tuw::StateSim::operator= ( const StateSim & )

default

StateSim& tuw::StateSim::operator= ( StateSim && )

delete

virtual ParamFuncs* tuw::StateSim::paramFuncs ( )

pure virtual

Returns (if applicable) reference of the parametric functions structure. Otherwise returns nullptr.

virtual ParamFuncsDist* tuw::StateSim::paramFuncsDist ( )

pure virtual

Returns (if applicable) reference of the parametric functions distance-extended structure. Otherwise returns nullptr.

virtual void tuw::StateSim::setDiscrType ( const RungeKutta::DiscretizationType & _discrType )

pure virtual

Set discretization type used in the simulation.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

virtual void tuw::StateSim::setState ( StateSPtr & _otherState )

pure virtual

Sets the state variables to the values of _otherState. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable).

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

virtual void tuw::StateSim::setStateCf	(	const double &	_arc,
		const ParamFuncs::EvalArcGuarantee &	_evalArcGuarantee = `ParamFuncs::EvalArcGuarantee::AFTER_LAST`
	)

pure virtual

Sets closed-form state at arc _arc.

virtual void tuw::StateSim::setStateCfNmStep	(	const double &	_arc,
		const ParamFuncs::EvalArcGuarantee &	_evalArcGuarantee = `ParamFuncs::EvalArcGuarantee::AFTER_LAST`
	)

inlinevirtual

Definition at line 150 of file state_sim.h.

virtual State& tuw::StateSim::state0 ( )

pure virtual

Reference to the initial state.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

virtual double tuw::StateSim::stateArc ( ) const

pure virtual

Value of the current arc parametrization of the state.

virtual State& tuw::StateSim::stateCf ( )

pure virtual

Reference to the actual closed-form state.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

virtual double tuw::StateSim::stateDist ( ) const

pure virtual

Value of the current traveled distance of the state.

virtual State& tuw::StateSim::stateNm ( )

pure virtual

Reference to the actual numerical-computed state.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

virtual State& tuw::StateSim::stateNmDelta ( const double & _dArc )

privatepure virtual

Computes numerical discrete state transition (return) based on internal closed-form state (stateCf ) and discretization interval _dArc.

virtual State& tuw::StateSim::stateNmDot ( )

privatepure virtual

Computes numerical continuous arc state transition (return) based on internal closed-form state (stateCf ).

virtual void tuw::StateSim::toState0 ( )

pure virtual

Resets entire state to state0. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable).

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >.

Friends And Related Function Documentation

template<std::size_t StateSize, std::size_t RKOrder, typename... RKCoeff>

void RungeKutta::discretize	(	StateSim &	_stateSim,
		const double &	_arc
	)

friend

template<std::size_t StateSize, std::size_t StateNmSize>

friend class StateSimTemplate

friend

Definition at line 167 of file state_sim.h.

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

state_sim.h

Public Member Functions

Private Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation