Template Class ODEAdaptiveSolver
Defined in File ODESolver.h
Inheritance Relationships
Base Type
public ompl::control::ODESolver(Class ODESolver)
Class Documentation
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template<class Solver = odeint::runge_kutta_cash_karp54<ODESolver::StateType>>
class ODEAdaptiveSolver : public ompl::control::ODESolver Adaptive step size solver for ordinary differential equations of the type q’ = f(q, u), where q is the current state of the system and u is a control applied to the system. The maximum integration error is bounded in this approach. Solver is the numerical integration method used to solve the equations, and must implement the error stepper concept from boost::numeric::odeint. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound.
Public Functions
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inline ODEAdaptiveSolver(const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep = 1e-2)
Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and an optional integration step size - default is 0.01.
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inline double getMaximumError() const
Retrieve the total error allowed during numerical integration.
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inline void setMaximumError(double error)
Set the total error allowed during numerical integration.
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inline double getMaximumEpsilonError() const
Retrieve the error tolerance during one step of numerical integration (local truncation error)
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inline void setMaximumEpsilonError(double error)
Set the error tolerance during one step of numerical integration (local truncation error)
Protected Functions
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inline virtual void solve(StateType &state, const Control *control, double duration) const override
Solve the ordinary differential equation given the input state of the system, a control to apply to the system, and the duration to apply the control. The value of state will contain the final values for the system after integration.
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inline ODEAdaptiveSolver(const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep = 1e-2)