Trapezoidal rule (approximates function as linear function between two points) More...
#include <quadrature.h>
Inheritance diagram for corbo::QuadratureTrapezoidalRule:
Public Member Functions | |
| bool | computeIntermediateControls (const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &u2, std::vector< Eigen::VectorXd *> &intermediate_u) override |
| DynamicsEvalInterface::Ptr | getInstance () const override |
| Return a newly created shared instance of the implemented class. More... | |
| int | getNumIntermediateControls () const override |
| int | getNumIntermediatePoints () const override |
| int | getNumIntermediateStates () const override |
| bool | interpolate (const std::vector< const Eigen::VectorXd *> &x1_points, const std::vector< const Eigen::VectorXd *> &u1_points, const Eigen::VectorXd &u2, const Eigen::VectorXd &x2, double t1, double dt, double dt_interp, const SystemDynamicsInterface &system, bool skip_u2_x2, TimeSeries &ts_x, TimeSeries &ts_u) override |
| 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) override |
| bool | isIntermediateControlSubjectToOptim () const override |
| bool | isSupportingCompressedStatesMode () const override |
| void | quadrature (const std::vector< const Eigen::VectorXd *> &x1_points, const std::vector< const Eigen::VectorXd *> &u1_points, const Eigen::VectorXd &u2, const Eigen::VectorXd &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| Allocate memory for a given state dimension. More... | |
| void | quadrature (const std::vector< const Eigen::VectorXd *> &x1_points, const std::vector< const Eigen::VectorXd *> &u1_points, const Eigen::VectorXd &u2, const Eigen::VectorXd &x2, double dt, const BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &) override |
| void | quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, const std::vector< Eigen::VectorXd *> &, const std::vector< Eigen::VectorXd *> &, Eigen::Ref< Eigen::VectorXd > integral_value, Eigen::Ref< Eigen::VectorXd >) override |
| void | quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, const std::vector< Eigen::VectorXd *> &, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &) override |
| void | quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &, std::vector< Eigen::VectorXd *> &) override |
| void | quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const std::vector< Eigen::VectorXd *> &, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &) override |
| void | quadrature (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 BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (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 std::vector< Eigen::VectorXd *> &, const std::vector< Eigen::VectorXd *> &, const BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value) override |
| void | quadrature (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 BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &, std::vector< Eigen::VectorXd *> &) override |
 Public Member Functions inherited from corbo::QuadratureCollocationInterface | |
| void | computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override |
| Compute differentiation error (system dynamics) More... | |
| void | computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) |
| 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 | ~QuadratureCollocationInterface () |
| Virtual destructor. More... | |
| Public Member Functions inherited from corbo::CollocationInterface | |
| virtual | ~CollocationInterface () |
| 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::QuadratureCollocationInterface | |
| using | BinaryFunction = const std::function< void(const Eigen::VectorXd &, const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)> |
| using | Ptr = std::shared_ptr< QuadratureCollocationInterface > |
| using | UnaryFunction = const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)> |
| using | UPtr = std::unique_ptr< QuadratureCollocationInterface > |
| Public Types inherited from corbo::CollocationInterface | |
| using | InputVector = Eigen::VectorXd |
| using | Ptr = std::shared_ptr< CollocationInterface > |
| using | StateVector = Eigen::VectorXd |
| using | UPtr = std::unique_ptr< CollocationInterface > |
| 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
Trapezoidal rule (approximates function as linear function between two points)
![\[ \int_0^{\Delta T} f(t) = \Delta T 0.5 * (f(0) + f(\Delta T)) \]](form_263.png)
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- See also
- NumericalIntegratorInterface NumericalIntegratorImplicitInterface
Definition at line 315 of file quadrature.h.
Member Function Documentation
◆ computeIntermediateControls()
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 583 of file quadrature.h.
◆ getInstance()
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inlineoverridevirtual |
Return a newly created shared instance of the implemented class.
Implements corbo::QuadratureCollocationInterface.
Definition at line 319 of file quadrature.h.
◆ getNumIntermediateControls()
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 326 of file quadrature.h.
◆ getNumIntermediatePoints()
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 324 of file quadrature.h.
◆ getNumIntermediateStates()
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 327 of file quadrature.h.
◆ interpolate() [1/2]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 356 of file quadrature.h.
◆ interpolate() [2/2]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 546 of file quadrature.h.
◆ isIntermediateControlSubjectToOptim()
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 323 of file quadrature.h.
◆ isSupportingCompressedStatesMode()
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 322 of file quadrature.h.
◆ quadrature() [1/14]
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inlineoverridevirtual |
Allocate memory for a given state dimension.
- Remarks
- This method is optional and not guaranteed to be called, but if so this might speed up computation.
- Parameters
-
[in] state_dim Expected dimension of the state vector
Implements corbo::QuadratureCollocationInterface.
Definition at line 330 of file quadrature.h.
◆ quadrature() [2/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 343 of file quadrature.h.
◆ quadrature() [3/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 391 of file quadrature.h.
◆ quadrature() [4/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 404 of file quadrature.h.
◆ quadrature() [5/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 417 of file quadrature.h.
◆ quadrature() [6/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 429 of file quadrature.h.
◆ quadrature() [7/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 442 of file quadrature.h.
◆ quadrature() [8/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 456 of file quadrature.h.
◆ quadrature() [9/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 469 of file quadrature.h.
◆ quadrature() [10/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 481 of file quadrature.h.
◆ quadrature() [11/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 494 of file quadrature.h.
◆ quadrature() [12/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 506 of file quadrature.h.
◆ quadrature() [13/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 519 of file quadrature.h.
◆ quadrature() [14/14]
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inlineoverridevirtual |
Implements corbo::QuadratureCollocationInterface.
Definition at line 533 of file quadrature.h.
The documentation for this class was generated from the following file: