Forward euler (explicit euler) integration. More...

#include <explicit_integrators.h>

Inheritance diagram for corbo::IntegratorExplicitEuler:

Public Member Functions
int	getConvergenceOrder () const override
	Return the convergence order. More...

DynamicsEvalInterface::Ptr	getInstance () const override
	Return a newly created shared instance of the implemented class. More...

void	solveIVP (const Eigen::VectorXd &x1, double dt, const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)> &fun, Eigen::Ref< Eigen::VectorXd > x2) override

void	solveIVP (const StateVector &x1, const InputVector &u1, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > x2) override
	Solution of the initial value problem. More...

Public Member Functions inherited from corbo::NumericalIntegratorExplicitInterface
void	computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override
	Compute error between two consecutive (discrete) states. More...

void	computeEqualityConstraint (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > error)

virtual void	initialize (int state_dim)
	Allocate memory for a given state dimension. More...

bool	interpolate (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &, const Eigen::Ref< const Eigen::VectorXd > &, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) override

virtual void	solveIVP (const Eigen::VectorXd &x1, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > x2)=0
	Solution of the initial value problem. More...

virtual	~NumericalIntegratorExplicitInterface ()
	Virtual destructor. More...

Public Member Functions inherited from corbo::DynamicsEvalInterface
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...

Additional Inherited Members
Public Types inherited from corbo::NumericalIntegratorExplicitInterface
using	Ptr = std::shared_ptr< NumericalIntegratorExplicitInterface >

using	UnaryFunction = const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)>

using	UPtr = std::unique_ptr< NumericalIntegratorExplicitInterface >

Public Types inherited from corbo::DynamicsEvalInterface
using	InputVector = Eigen::VectorXd

using	Ptr = std::shared_ptr< DynamicsEvalInterface >

using	StateVector = Eigen::VectorXd

using	UPtr = std::unique_ptr< DynamicsEvalInterface >

Static Public Member Functions inherited from corbo::DynamicsEvalInterface
static Factory< DynamicsEvalInterface > &	getFactory ()
	Get access to the accociated factory. More...

Detailed Description

Forward euler (explicit euler) integration.

$x_2 = x_1 + \Delta T f(x,u)$

.

See also: NumericalIntegratorInterface NumericalIntegratorExplicitInterface

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 47 of file explicit_integrators.h.

Member Function Documentation

◆ getConvergenceOrder()

int corbo::IntegratorExplicitEuler::getConvergenceOrder ( ) const

inlineoverridevirtual

Return the convergence order.

Implements corbo::NumericalIntegratorExplicitInterface.

Definition at line 54 of file explicit_integrators.h.

◆ getInstance()

DynamicsEvalInterface::Ptr corbo::IntegratorExplicitEuler::getInstance ( ) const

inlineoverridevirtual

Return a newly created shared instance of the implemented class.

Implements corbo::NumericalIntegratorExplicitInterface.

Definition at line 51 of file explicit_integrators.h.

◆ solveIVP() [1/2]

void corbo::IntegratorExplicitEuler::solveIVP	(	const Eigen::VectorXd &	x1,
		double	dt,
		const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)> &	fun,
		Eigen::Ref< Eigen::VectorXd >	x2
	)

inlineoverride

Definition at line 57 of file explicit_integrators.h.

◆ solveIVP() [2/2]

void corbo::IntegratorExplicitEuler::solveIVP	(	const StateVector &	x1,
		const InputVector &	u1,
		double	dt,
		const SystemDynamicsInterface &	system,
		Eigen::Ref< Eigen::VectorXd >	x2
	)

inlineoverridevirtual

Solution of the initial value problem.

$x(t=\Delta T) = \int_{t=0}^{t=\Delta T} f(x(t), u_1) dt$

with $ x(t=0) = x_1 $.

Parameters

[in]	x1	Initial state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]	u1	Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1]
[in]	dt	Time interval length
[in]	system	System dynamics object
[out]	x2	Resulting state vector [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated)

Implements corbo::NumericalIntegratorExplicitInterface.

Definition at line 66 of file explicit_integrators.h.

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

explicit_integrators.h

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ getConvergenceOrder()

◆ getInstance()

◆ solveIVP() [1/2]

◆ solveIVP() [2/2]