Public Member Functions | Protected Attributes | Private Types | Private Member Functions | List of all members
tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType > Class Template Reference

#include <agv_diff_drive_v_w.hpp>

Inheritance diagram for tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >:
Inheritance graph
[legend]

Public Member Functions

void adjustGradXSizeImpl (auto &_gradXNm, auto &_gradXCf)
 
void adjustXSizeImpl (auto &_XNm, auto &_XCf)
 
void setGradXCfImpl (auto &_gradXCf, const auto &_XCf, const TNumType &_arc, const PfEaG &_eAG)
 
void setGradXNm0Impl (auto &_gradXNm0, const auto &_XNm0)
 --------------------------------—Gradient information--------------------------------—/// More...
 
void setGradXNmDotImpl (auto &_gradXNmDot, auto &_XGradXCf, const auto &_XGradXNm, const TNumType &_arc, const PfEaG &_eAG)
 
void setXCfDotImpl (auto &_XCfDot, const auto &_XCf, const TNumType &_arc, const PfEaG &_eAG) const
 
void setXCfImpl (auto &_XCf, const TNumType &_arc, const PfEaG &_eAG)
 
void setXNm0Impl (auto &_XNm0)
 
void setXNmDotImpl (auto &_XNmDot, auto &_stateCf, const auto &_stateNm, const TNumType &_arc, const PfEaG &_eAG)
 
- Public Member Functions inherited from tuw::StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... >
void adjustGradXSize ()
 
void adjustXSize ()
 
NumType arc () const
 
void init (std::shared_ptr< ParamType< TNumType, MapDataType > > _paramStructPtr)
 
StateSimBase & operator= (const StateSimBase &)=default
 
StateSimBase & operator= (StateSimBase &&)=delete
 
void setGradXCf (const NumType &_arc, const PfEaG &_eAG)
 
void setGradXNm0 ()
 
void setGradXNmDot (const NumType &_arc, const PfEaG &_eAG)
 
void setXCf (const NumType &_arc, const PfEaG &_eAG)
 
void setXCfDot (const NumType &_arc, const PfEaG &_eAG)
 
void setXNm0 ()
 
void setXNmDot (const NumType &_arc, const PfEaG &_eAG)
 
const StateCfType & stateCfDotCache () const
 
const StateNmType & stateNmDotCache () const
 
 StateSimBase ()=default
 
 StateSimBase (const StateSimBase &)=default
 
 StateSimBase (StateSimBase &&)=delete
 
 ~StateSimBase ()=default
 
- Public Member Functions inherited from tuw::StateSimBaseCRTP< StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... > >
void advance (const NumType &_arc)
 
void advanceSet0 (auto &_state0, const NumType &_tEnd, const NumType &_dt)
 
void advanceWithGrad (const NumType &_arc)
 
StateSimBaseCRTP & operator= (const StateSimBaseCRTP &)=default
 
StateSimBaseCRTP & operator= (StateSimBaseCRTP &&)=default
 
void simToT (const NumType &_arcEnd, const NumType &_dt)
 
StateForSimType & state ()
 
const StateForSimType & state () const
 
 StateSimBaseCRTP ()=default
 
 StateSimBaseCRTP (const StateSimBaseCRTP &)=default
 
 StateSimBaseCRTP (StateSimBaseCRTP &&)=default
 
void toState0 ()
 
 ~StateSimBaseCRTP ()=default
 
- Public Member Functions inherited from tuw::StateSimBaseVirt< StateMapBaseTraits< TStateType::StateMapBaseType >::NumType, StateMapBaseTraits< TStateType::StateMapBaseType >::StateVirtType >
void advance (const StateMapBaseTraits< TStateType::StateMapBaseType >::NumType &_arc)
 
void advanceWithGrad (const StateMapBaseTraits< TStateType::StateMapBaseType >::NumType &_arc)
 
StateSimBaseVirt & operator= (const StateSimBaseVirt &)=default
 
StateSimBaseVirt & operator= (StateSimBaseVirt &&)=default
 
 StateSimBaseVirt ()=default
 
 StateSimBaseVirt (const StateSimBaseVirt &)=default
 
 StateSimBaseVirt (StateSimBaseVirt &&)=default
 
void toState ()
 
void toState0 ()
 
 ~StateSimBaseVirt ()=default
 

Protected Attributes

TNumType arcCfNmStepCache_
 
TNumType arcGradCache_
 
TNumType arcGradNmStepCache_
 
TNumType arcNmDotCache_
 
TNumType cosTheta_
 
TNumType sinTheta_
 

Private Types

using PFV = typename ParamType< TNumType, MapDataType >::ParamFuncVars
 

Private Member Functions

void setGradXCfNmStep (auto &_gradXCf, const auto &_XCf, const TNumType &_arc, const PfEaG &_eAG)
 
void setXCfNmStep (auto &_XCf, const TNumType &_arc, const PfEaG &_eAG)
 

Additional Inherited Members

- Public Types inherited from tuw::StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... >
using ParamStructType = ParamType< TNumType, MapDataType >
 
using StateForSimType = typename StateMapBaseTraits< typename TStateType::StateMapBaseType >::StateForSimType
 
using StateNumSimType = typename std::conditional< hasStateGrad, StateWithGradNmType, StateNmType >::type
 
using StateType = TStateType
 
- Public Types inherited from tuw::StateSimBaseCRTP< StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... > >
using StateForSimType = typename StateSimBaseCRTPTraits< StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... > >::StateForSimType
 
using StateType = typename StateSimBaseCRTPTraits< StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... > >::StateType
 
- Public Attributes inherited from tuw::StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... >
std::shared_ptr< ParamType< TNumType, MapDataType > > paramStruct
 
- Static Public Attributes inherited from tuw::StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... >
static constexpr const bool hasStateGrad
 
- Static Public Attributes inherited from tuw::StateSimBaseCRTP< StateSimBase< StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType... >, ParamType< TNumType, MapDataType >, TStateType, TDiscretizationType, TFuncsType... > >
static constexpr const bool hasStateGrad
 

Detailed Description

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
class tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >

Definition at line 364 of file agv_diff_drive_v_w.hpp.

Member Typedef Documentation

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
using tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::PFV = typename ParamType<TNumType, MapDataType>::ParamFuncVars
private

Definition at line 368 of file agv_diff_drive_v_w.hpp.

Member Function Documentation

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::adjustGradXSizeImpl ( auto &  _gradXNm,
auto &  _gradXCf 
)
inline

Definition at line 459 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::adjustXSizeImpl ( auto &  _XNm,
auto &  _XCf 
)
inline

Definition at line 371 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setGradXCfImpl ( auto &  _gradXCf,
const auto &  _XCf,
const TNumType &  _arc,
const PfEaG &  _eAG 
)
inline

Definition at line 483 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setGradXCfNmStep ( auto &  _gradXCf,
const auto &  _XCf,
const TNumType &  _arc,
const PfEaG &  _eAG 
)
inlineprivate

Definition at line 540 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setGradXNm0Impl ( auto &  _gradXNm0,
const auto &  _XNm0 
)
inline

--------------------------------—Gradient information--------------------------------—///

Definition at line 450 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setGradXNmDotImpl ( auto &  _gradXNmDot,
auto &  _XGradXCf,
const auto &  _XGradXNm,
const TNumType &  _arc,
const PfEaG &  _eAG 
)
inline

Definition at line 489 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setXCfDotImpl ( auto &  _XCfDot,
const auto &  _XCf,
const TNumType &  _arc,
const PfEaG &  _eAG 
) const
inline

not well defined on ctrl-pt lattice

Definition at line 401 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setXCfImpl ( auto &  _XCf,
const TNumType &  _arc,
const PfEaG &  _eAG 
)
inline

not well defined on ctrl-pt lattice

Definition at line 388 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setXCfNmStep ( auto &  _XCf,
const TNumType &  _arc,
const PfEaG &  _eAG 
)
inlineprivate

Definition at line 431 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setXNm0Impl ( auto &  _XNm0)
inline

Definition at line 377 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
void tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::setXNmDotImpl ( auto &  _XNmDot,
auto &  _stateCf,
const auto &  _stateNm,
const TNumType &  _arc,
const PfEaG &  _eAG 
)
inline

Definition at line 414 of file agv_diff_drive_v_w.hpp.

Member Data Documentation

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
TNumType tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::arcCfNmStepCache_
protected

Definition at line 721 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
TNumType tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::arcGradCache_
protected

Definition at line 727 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
TNumType tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::arcGradNmStepCache_
protected

Definition at line 730 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
TNumType tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::arcNmDotCache_
protected

Definition at line 724 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
TNumType tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::cosTheta_
protected

Definition at line 715 of file agv_diff_drive_v_w.hpp.

template<class TNumType, class MapDataType, class TStateType, template< class > class TDiscretizationType, class... TFuncsType>
TNumType tuw::DiffDrive::StateSimVWBase< TNumType, MapDataType, TStateType, TDiscretizationType, TFuncsType >::sinTheta_
protected

Definition at line 718 of file agv_diff_drive_v_w.hpp.

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

tuw_control
Author(s): George Todoran
autogenerated on Mon Jun 10 2019 15:27:24