#include <dynamics_solver.h>

Inheritance diagram for exotica::AbstractDynamicsSolver< T, NX, NU >:

Public Types
typedef Eigen::Matrix< T, NX, NU >	ControlDerivative
	Convenience definition for a ControlDerivative. More...

typedef Eigen::Matrix< T, NU, 1 >	ControlVector
	Convenience definition for a ControlVector (dimension NU x 1) More...

typedef Eigen::Matrix< T, NX, NX >	StateDerivative
	Convenience definition for a StateDerivative. More...

typedef Eigen::Matrix< T, NX, 1 >	StateVector
	Convenience definition for a StateVector containing both position and velocity (dimension NX x 1) More...

Public Member Functions
	AbstractDynamicsSolver ()

virtual void	AssignScene (std::shared_ptr< Scene > scene_in)
	Passes the Scene of the PlanningProblem to the DynamicsSolver. More...

void	ClampToStateLimits (Eigen::Ref< Eigen::VectorXd > state_in)
	Clamps the passed in state to the state limits. More...

virtual void	ComputeDerivatives (const StateVector &x, const ControlVector &u)
	Computes derivatives fx, fu, Fx, Fu [single call for efficiency, derivatives can be retrieved with get_fx, get_fu, get_Fx, get_Fu]. More...

virtual Hessian	ddStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)

virtual Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	dStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)
	Return the difference of the StateDelta operation between two state vectors. The ArgumentPosition argument can be used to select whether to take derivative w.r.t. x_1 or x_2. More...

virtual StateVector	f (const StateVector &x, const ControlVector &u)=0
	Forward dynamics. This computes the differential dynamics. More...

virtual StateVector	F (const StateVector &x, const ControlVector &u)
	State transition function. This internally computes the differential dynamics and applies the chosen integration scheme. More...

virtual ControlDerivative	fu (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the control. More...

ControlDerivative	fu_fd (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the control [finite differencing]. More...

virtual Eigen::Tensor< T, 3 >	fuu (const StateVector &x, const ControlVector &u)

virtual StateDerivative	fx (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the state. More...

StateDerivative	fx_fd (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the state [finite differencing]. More...

virtual Eigen::Tensor< T, 3 >	fxu (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fxx (const StateVector &x, const ControlVector &u)

const Eigen::MatrixXd &	get_control_limits ()
	Returns the control limits vector. More...

T	get_dt () const
	Returns integration timestep dt. More...

const ControlDerivative &	get_Fu () const
	Returns derivative Fu computed by ComputeDerivatives. More...

const ControlDerivative &	get_fu () const
	Returns derivative fu computed by ComputeDerivatives. More...

const StateDerivative &	get_Fx () const
	Returns derivative Fx computed by ComputeDerivatives. More...

const StateDerivative &	get_fx () const
	Returns derivative fx computed by ComputeDerivatives. More...

const bool &	get_has_second_order_derivatives () const
	Returns whether second-order derivatives are available. More...

const bool &	get_has_state_limits () const
	Returns whether state limits are available. More...

Integrator	get_integrator () const
	Returns used integration scheme. More...

int	get_num_controls () const
	Returns number of controls. More...

int	get_num_positions () const
	Returns number of positions. More...

int	get_num_state () const
	Returns size of state space (nx) More...

int	get_num_state_derivative () const
	Returns size of derivative vector of state space (ndx) More...

int	get_num_velocities () const
	Returns number of velocities. More...

virtual Eigen::Matrix< T, Eigen::Dynamic, 1 >	GetPosition (Eigen::VectorXdRefConst x_in)
	Returns the position-part of the state vector to update the scene. For types including SE(3) and rotation, convert to the appropriate representation here by overriding this method. More...

virtual void	InstantiateBase (const Initializer &init)
	Instantiates the base properties of the DynamicsSolver. More...

virtual void	Integrate (const StateVector &x, const StateVector &dx, const double dt, StateVector &xout)
	Integrates without performing dynamics. More...

virtual ControlVector	InverseDynamics (const StateVector &state)
	Returns a control vector corresponding to the state vector assuming zero acceleration. More...

void	set_control_limits (Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)
	Sets the control limits. More...

void	set_integrator (Integrator integrator_in)
	Sets integrator type. More...

virtual void	SetDt (double dt_in)
	Sets the timestep dt to be used for integration. More...

void	SetIntegrator (const std::string &integrator_in)
	Sets integrator type based on request string. More...

StateVector	Simulate (const StateVector &x, const ControlVector &u, T t)
	Simulates the dynamic system from starting state x using control u for t seconds. More...

virtual StateVector	StateDelta (const StateVector &x_1, const StateVector &x_2)
	Return the difference of two state vectors. Used when e.g. angle differences need to be wrapped from [-pi; pi] Returns x_1-x_2. More...

void	StateDelta (const StateVector &x_1, const StateVector &x_2, Eigen::VectorXdRef xout)

virtual	~AbstractDynamicsSolver ()

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0

virtual Initializer	GetInitializerTemplate ()=0

	InstantiableBase ()=default

virtual void	InstantiateInternal (const Initializer &init)=0

virtual	~InstantiableBase ()=default

Protected Member Functions
void	InitializeSecondOrderDerivatives ()

virtual StateVector	SimulateOneStep (const StateVector &x, const ControlVector &u)
	Integrates the dynamic system from state x with controls u applied for one timestep dt using the selected integrator. More...

Protected Attributes
Eigen::MatrixXd	control_limits_
	ControlLimits. Default is empty vector. More...

T	dt_ = 0.01
	Internal timestep used for integration. Defaults to 10ms. More...

Eigen::MatrixXd	fu_
	Internal storage of differential dynamics partial derivative fu computed by ComputeDerivatives. More...

Eigen::MatrixXd	Fu_
	Internal storage of state transition partial derivative Fu computed by ComputeDerivatives. More...

Eigen::Tensor< T, 3 >	fuu_default_

Eigen::MatrixXd	fx_
	Internal storage of differential dynamics partial derivative fx computed by ComputeDerivatives. More...

Eigen::MatrixXd	Fx_
	Internal storage of state transition partial derivative Fx computed by ComputeDerivatives. More...

Eigen::Tensor< T, 3 >	fxu_default_

Eigen::Tensor< T, 3 >	fxx_default_

bool	has_second_order_derivatives_ = false
	Whether this solver provides second order derivatives. If false (default), assumed to be all zeros. More...

bool	has_state_limits_ = false
	Whether the solver specifies state limits. More...

Integrator	integrator_ = Integrator::RK1
	Chosen integrator. Defaults to Euler (RK1). More...

int	num_controls_ = -1
	Number of controls in the dynamic system. More...

int	num_positions_ = -1
	Number of positions in the dynamic system. More...

int	num_state_ = -1
	Size of state space (num_positions + num_velocities) More...

int	num_state_derivative_ = -1
	Size of the tangent vector to the state space (2 * num_velocities) More...

int	num_velocities_ = -1
	Number of velocities in the dynamic system. More...

bool	second_order_derivatives_initialized_ = false
	Whether fxx, fxu and fuu have been initialized to 0. More...

Eigen::VectorXd	state_limits_lower_
	Lower state limits (configuration and velocity) More...

Eigen::VectorXd	state_limits_upper_
	Upper state limits (configuration and velocity) More...

Private Attributes
bool	control_limits_initialized_ = false

Hessian	ddStateDelta_

Eigen::MatrixXd	dStateDelta_

Eigen::VectorXd	raw_control_limits_high_

Eigen::VectorXd	raw_control_limits_low_

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default

	~Uncopyable ()=default