Public Member Functions | List of all members
corbo::IntegratorExplicitEuler Class Reference

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

#include <explicit_integrators.h>

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

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]x1Initial state vector [SystemDynamicsInterface::getStateDimension() x 1]
[in]u1Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1]
[in]dtTime interval length
[in]systemSystem dynamics object
[out]x2Resulting 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:


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