discrete time reference trajectory in which the precompute step is not aware of the trajectory More...

#include <reference_trajectory.h>

Inheritance diagram for corbo::BlindDiscreteTimeReferenceTrajectory:

Public Types
using	Ptr = std::shared_ptr< BlindDiscreteTimeReferenceTrajectory >

Public Types inherited from corbo::ReferenceTrajectoryInterface
using	OutputVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< ReferenceTrajectoryInterface >

Public Member Functions
	BlindDiscreteTimeReferenceTrajectory ()

	BlindDiscreteTimeReferenceTrajectory (TimeSeries::Ptr trajectory, TimeSeries::Interpolation interpolation)

int	getDimension () const override

ReferenceTrajectoryInterface::Ptr	getInstance () const override

const OutputVector &	getNextSteadyState (const Time &t) override

void	getReference (const Time &t, OutputVector &ref) const override

const OutputVector &	getReferenceCached (int k) const override

const TimeSeries::Ptr &	getReferenceTrajectory ()

bool	isCached (double dt, int n, Time t) const override

bool	isCached (const std::vector< double > &dt, Time t) const override

bool	isStatic () const override

bool	isZero () const override

void	precompute (double dt, int n, Time t) override

void	precompute (const std::vector< double > &dt, Time t) override

void	setInterpolationMethod (TimeSeries::Interpolation interpolation)

void	setTimeFromStart (const Time &time_from_start)

void	setTrajectory (TimeSeries::Ptr trajectory, TimeSeries::Interpolation interpolation)

void	setTrajectory (TimeSeries::Ptr trajectory)

Public Member Functions inherited from corbo::ReferenceTrajectoryInterface
virtual	~ReferenceTrajectoryInterface ()=default

Private Attributes
Time	_cached_t

TimeSeries::Interpolation	_interpolation = TimeSeries::Interpolation::ZeroOrderHold

OutputVector	_next_steady_state

OutputVector	_output_cache

TimeSeries::Ptr	_trajectory

Additional Inherited Members
Static Public Member Functions inherited from corbo::ReferenceTrajectoryInterface
static Factory< ReferenceTrajectoryInterface > &	getFactory ()
	Get access to the associated factory. More...

Detailed Description

discrete time reference trajectory in which the precompute step is not aware of the trajectory

Stores a non-static reference trajectory containg a discrete time trajectory. The precompute step assumes that the current value is constant in the future..

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 483 of file reference_trajectory.h.

Member Typedef Documentation

◆ Ptr

using corbo::BlindDiscreteTimeReferenceTrajectory::Ptr = std::shared_ptr<BlindDiscreteTimeReferenceTrajectory>

Definition at line 486 of file reference_trajectory.h.

Constructor & Destructor Documentation

◆ BlindDiscreteTimeReferenceTrajectory() [1/2]

corbo::BlindDiscreteTimeReferenceTrajectory::BlindDiscreteTimeReferenceTrajectory ( )

inline

Definition at line 488 of file reference_trajectory.h.

◆ BlindDiscreteTimeReferenceTrajectory() [2/2]

corbo::BlindDiscreteTimeReferenceTrajectory::BlindDiscreteTimeReferenceTrajectory	(	TimeSeries::Ptr	trajectory,
		TimeSeries::Interpolation	interpolation
	)

inlineexplicit

Definition at line 489 of file reference_trajectory.h.

Member Function Documentation

◆ getDimension()

int corbo::BlindDiscreteTimeReferenceTrajectory::getDimension ( ) const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 503 of file reference_trajectory.h.

◆ getInstance()

ReferenceTrajectoryInterface::Ptr corbo::BlindDiscreteTimeReferenceTrajectory::getInstance ( ) const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 494 of file reference_trajectory.h.

◆ getNextSteadyState()

const OutputVector& corbo::BlindDiscreteTimeReferenceTrajectory::getNextSteadyState ( const Time & t )

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 551 of file reference_trajectory.h.

◆ getReference()

void corbo::BlindDiscreteTimeReferenceTrajectory::getReference	(	const Time &	t,
		OutputVector &	ref
	)		const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 529 of file reference_trajectory.h.

◆ getReferenceCached()

const OutputVector& corbo::BlindDiscreteTimeReferenceTrajectory::getReferenceCached ( int k ) const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 549 of file reference_trajectory.h.

◆ getReferenceTrajectory()

const TimeSeries::Ptr& corbo::BlindDiscreteTimeReferenceTrajectory::getReferenceTrajectory ( )

inline

Definition at line 578 of file reference_trajectory.h.

◆ isCached() [1/2]

bool corbo::BlindDiscreteTimeReferenceTrajectory::isCached	(	double	dt,
		int	n,
		Time	t
	)		const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 505 of file reference_trajectory.h.

◆ isCached() [2/2]

bool corbo::BlindDiscreteTimeReferenceTrajectory::isCached	(	const std::vector< double > &	dt,
		Time	t
	)		const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 511 of file reference_trajectory.h.

◆ isStatic()

bool corbo::BlindDiscreteTimeReferenceTrajectory::isStatic ( ) const

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 496 of file reference_trajectory.h.

◆ isZero()

bool corbo::BlindDiscreteTimeReferenceTrajectory::isZero ( ) const

inlineoverridevirtual

Reimplemented from corbo::ReferenceTrajectoryInterface.

Definition at line 497 of file reference_trajectory.h.

◆ precompute() [1/2]

void corbo::BlindDiscreteTimeReferenceTrajectory::precompute	(	double	dt,
		int	n,
		Time	t
	)

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 517 of file reference_trajectory.h.

◆ precompute() [2/2]

void corbo::BlindDiscreteTimeReferenceTrajectory::precompute	(	const std::vector< double > &	dt,
		Time	t
	)

inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 523 of file reference_trajectory.h.

◆ setInterpolationMethod()

void corbo::BlindDiscreteTimeReferenceTrajectory::setInterpolationMethod ( TimeSeries::Interpolation interpolation )

inline

Definition at line 576 of file reference_trajectory.h.

◆ setTimeFromStart()

void corbo::BlindDiscreteTimeReferenceTrajectory::setTimeFromStart ( const Time & time_from_start )

inline

Definition at line 571 of file reference_trajectory.h.

◆ setTrajectory() [1/2]

void corbo::BlindDiscreteTimeReferenceTrajectory::setTrajectory	(	TimeSeries::Ptr	trajectory,
		TimeSeries::Interpolation	interpolation
	)

inline

Definition at line 553 of file reference_trajectory.h.

◆ setTrajectory() [2/2]

void corbo::BlindDiscreteTimeReferenceTrajectory::setTrajectory ( TimeSeries::Ptr trajectory )

inline

Definition at line 559 of file reference_trajectory.h.

Member Data Documentation

◆ _cached_t

Time corbo::BlindDiscreteTimeReferenceTrajectory::_cached_t

private

Definition at line 589 of file reference_trajectory.h.

◆ _interpolation

TimeSeries::Interpolation corbo::BlindDiscreteTimeReferenceTrajectory::_interpolation = TimeSeries::Interpolation::ZeroOrderHold

private

Definition at line 591 of file reference_trajectory.h.

◆ _next_steady_state

OutputVector corbo::BlindDiscreteTimeReferenceTrajectory::_next_steady_state

private

Definition at line 590 of file reference_trajectory.h.

◆ _output_cache

OutputVector corbo::BlindDiscreteTimeReferenceTrajectory::_output_cache

private

Definition at line 588 of file reference_trajectory.h.

◆ _trajectory

TimeSeries::Ptr corbo::BlindDiscreteTimeReferenceTrajectory::_trajectory

private

Definition at line 587 of file reference_trajectory.h.

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

reference_trajectory.h

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ BlindDiscreteTimeReferenceTrajectory() [1/2]

◆ BlindDiscreteTimeReferenceTrajectory() [2/2]

Member Function Documentation

◆ getDimension()

◆ getInstance()

◆ getNextSteadyState()

◆ getReference()

◆ getReferenceCached()

◆ getReferenceTrajectory()

◆ isCached() [1/2]

◆ isCached() [2/2]

◆ isStatic()

◆ isZero()

◆ precompute() [1/2]

◆ precompute() [2/2]

◆ setInterpolationMethod()

◆ setTimeFromStart()

◆ setTrajectory() [1/2]

◆ setTrajectory() [2/2]

Member Data Documentation

◆ _cached_t

◆ _interpolation

◆ _next_steady_state

◆ _output_cache

◆ _trajectory