Interface class for solving and evaluating dynamics. More...
#include <dynamics_eval_interface.h>
Public Types | |
| using | InputVector = Eigen::VectorXd |
| using | Ptr = std::shared_ptr< DynamicsEvalInterface > |
| using | StateVector = Eigen::VectorXd |
| using | UPtr = std::unique_ptr< DynamicsEvalInterface > |
Public Member Functions | |
| virtual void | computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error)=0 |
| Compute error between two consecutive (discrete) states. More... | |
| virtual Ptr | getInstance () const =0 |
| Return a newly allocated instances of the inherited class. More... | |
| virtual bool | interpolate (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &x2, const Eigen::Ref< const Eigen::VectorXd > &u2, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls)=0 |
| virtual bool | interpolate (const std::vector< const Eigen::VectorXd *> &x, const std::vector< const Eigen::VectorXd *> &u, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) |
| virtual | ~DynamicsEvalInterface () |
| Virtual destructor. More... | |
Static Public Member Functions | |
| static Factory< DynamicsEvalInterface > & | getFactory () |
| Get access to the accociated factory. More... | |
Detailed Description
Interface class for solving and evaluating dynamics.
- Remarks
- This interface is provided with factory support (DynamicsEvalInterface).
Definition at line 54 of file dynamics_eval_interface.h.
Member Typedef Documentation
◆ InputVector
| using corbo::DynamicsEvalInterface::InputVector = Eigen::VectorXd |
Definition at line 61 of file dynamics_eval_interface.h.
◆ Ptr
| using corbo::DynamicsEvalInterface::Ptr = std::shared_ptr<DynamicsEvalInterface> |
Definition at line 57 of file dynamics_eval_interface.h.
◆ StateVector
| using corbo::DynamicsEvalInterface::StateVector = Eigen::VectorXd |
Definition at line 60 of file dynamics_eval_interface.h.
◆ UPtr
| using corbo::DynamicsEvalInterface::UPtr = std::unique_ptr<DynamicsEvalInterface> |
Definition at line 58 of file dynamics_eval_interface.h.
Constructor & Destructor Documentation
◆ ~DynamicsEvalInterface()
|
inlinevirtual |
Virtual destructor.
Definition at line 64 of file dynamics_eval_interface.h.
Member Function Documentation
◆ computeEqualityConstraint()
|
pure virtual |
Compute error between two consecutive (discrete) states.
![\[ e = f(x,u,t) - \dot{x} \]](form_228.png)
.
- Remarks
- We require no alias between
errorand all other parameters!
- Parameters
-
[in] x1 Initial state vector [SystemDynamicsInterface::getStateDimension() x 1] [in] u1 Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1] [in] x2 Final state vector [SystemDynamicsInterface::getStateDimension() x 1] [in] dt Time interval length [in] system System dynamics object [out] error Resulting error [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated)
Implemented in corbo::NumericalIntegratorExplicitInterface, corbo::QuadratureCollocationInterface, and corbo::CollocationInterface.
◆ getFactory()
|
inlinestatic |
Get access to the accociated factory.
Definition at line 70 of file dynamics_eval_interface.h.
◆ getInstance()
|
pure virtual |
Return a newly allocated instances of the inherited class.
Implemented in corbo::QuadratureHermiteSimpson, corbo::IntegratorMultiStageScaled, corbo::IntegratorMultiStageFixedStep, corbo::IntegratorAdaptiveStepSize, corbo::QuadratureHermiteSimpsonLinearControl, corbo::IntegratorExplicitRungeKutta7, corbo::IntegratorExplicitRungeKutta6, corbo::IntegratorExplicitRungeKutta5, corbo::QuadratureTrapezoidalRule, corbo::IntegratorExplicitRungeKutta4, corbo::IntegratorExplicitRungeKutta3, corbo::NumericalIntegratorExplicitInterface, corbo::IntegratorExplicitRungeKutta2, corbo::CollocationInterface, corbo::QuadratureCollocationInterface, corbo::QuadratureRectangleRule, and corbo::IntegratorExplicitEuler.
◆ interpolate() [1/2]
|
pure virtual |
◆ interpolate() [2/2]
|
inlinevirtual |
Reimplemented in corbo::QuadratureHermiteSimpson.
Definition at line 96 of file dynamics_eval_interface.h.
The documentation for this class was generated from the following file: