corbo::ReferenceTrajectoryInterface Class Reference

Interface class for reference trajectories. More...

#include <reference_trajectory.h>

Inheritance diagram for corbo::ReferenceTrajectoryInterface:

Public Types
using	OutputVector = Eigen::VectorXd
using	Ptr = std::shared_ptr< ReferenceTrajectoryInterface >

Public Member Functions
virtual int	getDimension () const =0
virtual Ptr	getInstance () const =0
virtual const OutputVector &	getNextSteadyState (const Time &t)=0
virtual void	getReference (const Time &t, OutputVector &ref) const =0
virtual const OutputVector &	getReferenceCached (int k) const =0
virtual bool	isCached (double dt, int n, Time t) const =0
virtual bool	isCached (const std::vector< double > &dt, Time t) const =0
virtual bool	isStatic () const =0
virtual bool	isZero () const
virtual void	precompute (double dt, int n, Time t)=0
virtual void	precompute (const std::vector< double > &dt, Time t)=0
virtual	~ReferenceTrajectoryInterface ()=default

Static Public Member Functions
static Factory< ReferenceTrajectoryInterface > &	getFactory ()
	Get access to the associated factory. More...

Detailed Description

Interface class for reference trajectories.

This class represents a generic reference trajectory, e.g. for plant controllers. The interface does not distinguish between state and control input references, but is subject to an Eigen::VectorXd type of arbitrary dimension.

Remarks

This interface is provided with factory support (ReferenceTrajectoryFactory).

See also

StaticReference ZeroReference

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)

Todo:

The interface is not yet completed/stable for non-static references, e.g. an appropriate pre-computation and time-shifting is not designed yet.

Definition at line 60 of file reference_trajectory.h.

Member Typedef Documentation

OutputVector

using corbo::ReferenceTrajectoryInterface::OutputVector = Eigen::VectorXd

Definition at line 64 of file reference_trajectory.h.

Ptr

using corbo::ReferenceTrajectoryInterface::Ptr = std::shared_ptr<ReferenceTrajectoryInterface>

Definition at line 63 of file reference_trajectory.h.

Constructor & Destructor Documentation

~ReferenceTrajectoryInterface()

virtual corbo::ReferenceTrajectoryInterface::~ReferenceTrajectoryInterface ( )

virtualdefault

Member Function Documentation

getDimension()

virtual int corbo::ReferenceTrajectoryInterface::getDimension ( ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

getFactory()

static Factory<ReferenceTrajectoryInterface>& corbo::ReferenceTrajectoryInterface::getFactory ( )

inlinestatic

Get access to the associated factory.

Definition at line 71 of file reference_trajectory.h.

getInstance()

virtual Ptr corbo::ReferenceTrajectoryInterface::getInstance ( ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, corbo::ZeroReference, and corbo::StaticReference.

getNextSteadyState()

virtual const OutputVector& corbo::ReferenceTrajectoryInterface::getNextSteadyState ( const Time &  t )

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

getReference()

virtual void corbo::ReferenceTrajectoryInterface::getReference ( const Time &  t, OutputVector &  ref  ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

getReferenceCached()

virtual const OutputVector& corbo::ReferenceTrajectoryInterface::getReferenceCached ( int  k ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

isCached() [1/2]

virtual bool corbo::ReferenceTrajectoryInterface::isCached ( double  dt, int  n, Time  t  ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

isCached() [2/2]

virtual bool corbo::ReferenceTrajectoryInterface::isCached ( const std::vector< double > &  dt, Time  t  ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

isStatic()

virtual bool corbo::ReferenceTrajectoryInterface::isStatic ( ) const

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

isZero()

virtual bool corbo::ReferenceTrajectoryInterface::isZero ( ) const

inlinevirtual

Reimplemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, corbo::ZeroReference, and corbo::StaticReference.

Definition at line 74 of file reference_trajectory.h.

precompute() [1/2]

virtual void corbo::ReferenceTrajectoryInterface::precompute ( double  dt, int  n, Time  t  )

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

precompute() [2/2]

virtual void corbo::ReferenceTrajectoryInterface::precompute ( const std::vector< double > &  dt, Time  t  )

pure virtual

Implemented in corbo::BlindDiscreteTimeReferenceTrajectory, corbo::DiscreteTimeReferenceTrajectory, corbo::SineReferenceTrajectory, and corbo::StaticReference.

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

• reference_trajectory.h