Public Types | Public Member Functions | Private Attributes | List of all members
corbo::DiscreteTimeReferenceTrajectory Class Reference

discrete time reference trajectory More...

#include <reference_trajectory.h>

Inheritance diagram for corbo::DiscreteTimeReferenceTrajectory:
Inheritance graph
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Public Types

using Ptr = std::shared_ptr< DiscreteTimeReferenceTrajectory >
 
- Public Types inherited from corbo::ReferenceTrajectoryInterface
using OutputVector = Eigen::VectorXd
 
using Ptr = std::shared_ptr< ReferenceTrajectoryInterface >
 

Public Member Functions

 DiscreteTimeReferenceTrajectory ()
 
 DiscreteTimeReferenceTrajectory (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

std::vector< double > _cached_dt
 
Time _cached_t
 
std::vector< OutputVector > _cached_trajectory
 
TimeSeries::Interpolation _interpolation = TimeSeries::Interpolation::ZeroOrderHold
 
OutputVector _next_steady_state
 
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

Stores a non-static reference trajectory containg a discrete time trajectory.

Author
Rodrigo Velasco (rodri.nosp@m.go.v.nosp@m.elasc.nosp@m.o@tu.nosp@m.-dort.nosp@m.mund.nosp@m..de)

Definition at line 321 of file reference_trajectory.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 324 of file reference_trajectory.h.

Constructor & Destructor Documentation

◆ DiscreteTimeReferenceTrajectory() [1/2]

corbo::DiscreteTimeReferenceTrajectory::DiscreteTimeReferenceTrajectory ( )
inline

Definition at line 326 of file reference_trajectory.h.

◆ DiscreteTimeReferenceTrajectory() [2/2]

corbo::DiscreteTimeReferenceTrajectory::DiscreteTimeReferenceTrajectory ( TimeSeries::Ptr  trajectory,
TimeSeries::Interpolation  interpolation 
)
inlineexplicit

Definition at line 327 of file reference_trajectory.h.

Member Function Documentation

◆ getDimension()

int corbo::DiscreteTimeReferenceTrajectory::getDimension ( ) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 341 of file reference_trajectory.h.

◆ getInstance()

ReferenceTrajectoryInterface::Ptr corbo::DiscreteTimeReferenceTrajectory::getInstance ( ) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 332 of file reference_trajectory.h.

◆ getNextSteadyState()

const OutputVector& corbo::DiscreteTimeReferenceTrajectory::getNextSteadyState ( const Time &  t)
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 424 of file reference_trajectory.h.

◆ getReference()

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

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 391 of file reference_trajectory.h.

◆ getReferenceCached()

const OutputVector& corbo::DiscreteTimeReferenceTrajectory::getReferenceCached ( int  k) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 412 of file reference_trajectory.h.

◆ getReferenceTrajectory()

const TimeSeries::Ptr& corbo::DiscreteTimeReferenceTrajectory::getReferenceTrajectory ( )
inline

Definition at line 455 of file reference_trajectory.h.

◆ isCached() [1/2]

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

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 343 of file reference_trajectory.h.

◆ isCached() [2/2]

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

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 349 of file reference_trajectory.h.

◆ isStatic()

bool corbo::DiscreteTimeReferenceTrajectory::isStatic ( ) const
inlineoverridevirtual

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 334 of file reference_trajectory.h.

◆ isZero()

bool corbo::DiscreteTimeReferenceTrajectory::isZero ( ) const
inlineoverridevirtual

Reimplemented from corbo::ReferenceTrajectoryInterface.

Definition at line 335 of file reference_trajectory.h.

◆ precompute() [1/2]

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

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 359 of file reference_trajectory.h.

◆ precompute() [2/2]

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

Implements corbo::ReferenceTrajectoryInterface.

Definition at line 375 of file reference_trajectory.h.

◆ setInterpolationMethod()

void corbo::DiscreteTimeReferenceTrajectory::setInterpolationMethod ( TimeSeries::Interpolation  interpolation)
inline

Definition at line 453 of file reference_trajectory.h.

◆ setTimeFromStart()

void corbo::DiscreteTimeReferenceTrajectory::setTimeFromStart ( const Time &  time_from_start)
inline

Definition at line 448 of file reference_trajectory.h.

◆ setTrajectory() [1/2]

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

Definition at line 426 of file reference_trajectory.h.

◆ setTrajectory() [2/2]

void corbo::DiscreteTimeReferenceTrajectory::setTrajectory ( TimeSeries::Ptr  trajectory)
inline

Definition at line 432 of file reference_trajectory.h.

Member Data Documentation

◆ _cached_dt

std::vector<double> corbo::DiscreteTimeReferenceTrajectory::_cached_dt
private

Definition at line 466 of file reference_trajectory.h.

◆ _cached_t

Time corbo::DiscreteTimeReferenceTrajectory::_cached_t
private

Definition at line 467 of file reference_trajectory.h.

◆ _cached_trajectory

std::vector<OutputVector> corbo::DiscreteTimeReferenceTrajectory::_cached_trajectory
private

Definition at line 465 of file reference_trajectory.h.

◆ _interpolation

TimeSeries::Interpolation corbo::DiscreteTimeReferenceTrajectory::_interpolation = TimeSeries::Interpolation::ZeroOrderHold
private

Definition at line 469 of file reference_trajectory.h.

◆ _next_steady_state

OutputVector corbo::DiscreteTimeReferenceTrajectory::_next_steady_state
private

Definition at line 468 of file reference_trajectory.h.

◆ _trajectory

TimeSeries::Ptr corbo::DiscreteTimeReferenceTrajectory::_trajectory
private

Definition at line 464 of file reference_trajectory.h.

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

control_box_rst
Author(s): Christoph Rösmann
autogenerated on Mon Feb 28 2022 22:08:02