Public Types | Public Member Functions | Static Public Member Functions | List of all members
corbo::DynamicsEvalInterface Class Referenceabstract

Interface class for solving and evaluating dynamics. More...

#include <dynamics_eval_interface.h>

Inheritance diagram for corbo::DynamicsEvalInterface:
Inheritance graph
[legend]

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.

Definition at line 54 of file dynamics_eval_interface.h.

Member Typedef Documentation

◆ InputVector

Definition at line 61 of file dynamics_eval_interface.h.

◆ Ptr

Definition at line 57 of file dynamics_eval_interface.h.

◆ StateVector

Definition at line 60 of file dynamics_eval_interface.h.

◆ UPtr

Definition at line 58 of file dynamics_eval_interface.h.

Constructor & Destructor Documentation

◆ ~DynamicsEvalInterface()

virtual corbo::DynamicsEvalInterface::~DynamicsEvalInterface ( )
inlinevirtual

Virtual destructor.

Definition at line 64 of file dynamics_eval_interface.h.

Member Function Documentation

◆ computeEqualityConstraint()

virtual void corbo::DynamicsEvalInterface::computeEqualityConstraint ( const StateVector x1,
const InputVector u1,
const StateVector x2,
double  dt,
const SystemDynamicsInterface system,
Eigen::Ref< Eigen::VectorXd >  error 
)
pure virtual

Compute error between two consecutive (discrete) states.

\[ e = f(x,u,t) - \dot{x} \]

.

Remarks
We require no alias between error and all other parameters!
Parameters
[in]x1Initial state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]u1Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1]
[in]x2Final state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]dtTime interval length
[in]systemSystem dynamics object
[out]errorResulting error [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated)

Implemented in corbo::NumericalIntegratorExplicitInterface, corbo::QuadratureCollocationInterface, and corbo::CollocationInterface.

◆ getFactory()

static Factory<DynamicsEvalInterface>& corbo::DynamicsEvalInterface::getFactory ( )
inlinestatic

Get access to the accociated factory.

Definition at line 70 of file dynamics_eval_interface.h.

◆ getInstance()

virtual Ptr corbo::DynamicsEvalInterface::getInstance ( ) const
pure virtual

◆ interpolate() [1/2]

virtual bool corbo::DynamicsEvalInterface::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 
)
pure virtual

◆ interpolate() [2/2]

virtual bool corbo::DynamicsEvalInterface::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 
)
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:


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