#include <trajectory_simulator.h>

Inheritance diagram for tuw::TrajectorySimulator< TNumType, TSimType >:

Classes
struct	LatticePoint
	Structure containing an evaluation arc and a state pointer. More...

struct	LatticePointType
	Structure containing the lattice type afferent to a. More...

Public Types
enum	BaseSimLatticeType : signed int { BaseSimLatticeType::ARC_BG_BK = -3, BaseSimLatticeType::LATTICE_ARC_EQ_DT = -2, BaseSimLatticeType::LATTICE_ARC_EQ_DS = -1, BaseSimLatticeType::LATTICE_ENUM_SIZE = 3, BaseSimLatticeType::ARC_BG_BK = -3, BaseSimLatticeType::LATTICE_ARC_EQ_DT = -2, BaseSimLatticeType::LATTICE_ARC_EQ_DS = -1, BaseSimLatticeType::LATTICE_ENUM_SIZE = 3 }
	Fundamental lattice types. More...

enum	BaseSimLatticeType : signed int { BaseSimLatticeType::ARC_BG_BK = -3, BaseSimLatticeType::LATTICE_ARC_EQ_DT = -2, BaseSimLatticeType::LATTICE_ARC_EQ_DS = -1, BaseSimLatticeType::LATTICE_ENUM_SIZE = 3, BaseSimLatticeType::ARC_BG_BK = -3, BaseSimLatticeType::LATTICE_ARC_EQ_DT = -2, BaseSimLatticeType::LATTICE_ARC_EQ_DS = -1, BaseSimLatticeType::LATTICE_ENUM_SIZE = 3 }
	Fundamental lattice types. More...

using	CostsEvaluatorClass = CostsEvaluatorBase< TrajectorySimulator::LatticeVec >

using	CostsEvaluatorClass = CostsEvaluatorBase< TrajectorySimulator::LatticeVec >

using	LatticeVec = std::vector< LatticePoint >

using	LatticeVec = std::vector< LatticePoint >

using	LatticeVecSPtr = std::shared_ptr< std::vector< LatticePoint > >

using	LatticeVecSPtr = std::shared_ptr< std::vector< LatticePoint >>

using	LatticeVecSPtrVec = std::vector< std::shared_ptr< std::vector< LatticePoint > > >

using	LatticeVecSPtrVec = std::vector< std::shared_ptr< std::vector< LatticePoint >>>

enum	SimMode { SimMode::ONLINE, SimMode::PRECALC }
	Mode of the simulation. More...

using	StateForSimType = typename TSimType::StateForSimType

using	StateSimSPtr = std::shared_ptr< TSimType >

using	StateSPtr = std::shared_ptr< StateType >

using	StateType = typename TSimType::StateType

Public Member Functions
const double &	ds () const
	Const reference to arc parametrization interval used for the equal distance lattice. More...

const TNumType &	ds () const
	Const reference to arc parametrization interval used for the equal distance lattice. More...

double &	dsBase ()
	Reference to arc parametrization interval used for the equal distance lattice. More...

TNumType &	dsBase ()
	Reference to arc parametrization interval used for the equal distance lattice. More...

const double &	dt () const
	Const reference to arc parametrization interval used for the equal arc-length lattice. More...

const TNumType &	dt () const
	Const reference to arc parametrization interval used for the equal arc-length lattice. More...

double &	dtBase ()
	Reference to arc parametrization interval used for the equal arc-length lattice. More...

TNumType &	dtBase ()
	Reference to arc parametrization interval used for the equal arc-length lattice. More...

TrajectorySimulator &	operator= (const TrajectorySimulator &)=default

TrajectorySimulator &	operator= (TrajectorySimulator &&)=default

TrajectorySimulator &	operator= (const TrajectorySimulator &)=default

TrajectorySimulator &	operator= (TrajectorySimulator &&)=default

void	setBoolDsScale (const bool &_doScale)

void	setBoolDsScale (const bool &_doScale)

void	setBoolDtScale (const bool &_doScale)

void	setBoolDtScale (const bool &_doScale)

void	setUserDefLattice (const std::vector< std::vector< double * > > &_userDefLattices)

void	setUserDefLattice (const std::vector< std::vector< TNumType * >> &_userDefLattices)

std::vector< LatticePointType > &	simLattice ()
	Reference to the lattice that requested each simulated trajectory state. More...

const std::vector< LatticePointType > &	simLattice () const
	Const reference to the lattice that requested each simulated trajectory state. More...

LatticePointType &	simLatticeI (const size_t &_i)

const LatticePointType &	simLatticeI (const size_t &_i) const

size_t	simLatticeSize () const

virtual void	simulateTrajectory (double _lastValidArc=0)=0
	Simulates (discrete numerical evaluation) an entire trajectory according to the specified intervals and lattices. More...

void	simulateTrajectory (TNumType _lastValidArc=0)

template<bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>
void	simulateTrajectoryWithGrad (TNumType _lastValidArc=0)

StateSimPtr	stateSim ()
	Reference of the state simulator object. More...

const StateSimPtr	stateSim () const
	Const reference of the state simulator object. More...

StateSimSPtr &	stateSim ()
	Reference of the state simulator object. More...

const StateSimSPtr &	stateSim () const
	Const reference of the state simulator object. More...

	TrajectorySimulator (StateSimPtr _stateSim)

	TrajectorySimulator (StateSimPtr _stateSim, std::unique_ptr< CostsEvaluatorClass > _costsEvaluator)

	TrajectorySimulator (const TrajectorySimulator &)=default

	TrajectorySimulator (StateSimSPtr &_stateSim)

	TrajectorySimulator (TrajectorySimulator &&)=default

	TrajectorySimulator (StateSimSPtr &_stateSim, std::unique_ptr< CostsEvaluatorClass > _costsEvaluator)

	TrajectorySimulator (const TrajectorySimulator &)=default

	TrajectorySimulator (TrajectorySimulator &&)=default

void	updateUserDefLattice ()

void	updateUserDefLattice ()

virtual	~TrajectorySimulator ()=default

virtual	~TrajectorySimulator ()=default

Static Public Member Functions
static size_t	lattTypeIdx (int _enumIdx)
	Converts shifted (int) lattice index to container (size_t) index. More...

static size_t	lattTypeIdx (int _enumIdx)
	Converts shifted (int) lattice index to container (size_t) index. More...

Public Attributes
std::unique_ptr< CostsEvaluatorClass >	costsEvaluator_

LatticeVecSPtrVec	partLattices_
	Vector containing the ordered sequence of arc parametrizations for each of the used lattices. More...

bool	simulatingWithGrad
	Simulates (discrete numerical evaluation) an entire trajectory according to the specified intervals and lattices. More...

std::vector< LatticePointType >	simulationLattice_
	Lattice requesting each simulated trajectory state. More...

Static Public Attributes
static constexpr const bool	CanComputeStateGrad

static constexpr const std::size_t	extArcLatIdxBegin

Protected Member Functions
void	appendToPartLat (const double &_arcNow, const int &_latticePtType, const std::size_t &_minArcLatCacheIdx)
	Appends the new arc and state pointer to the afferent partial lattice point. More...

void	appendToPartLat (const TNumType &_arcNow, const int &_latticePtType, const std::size_t &_minArcLatCacheIdx)
	Appends the new arc and state pointer to the afferent partial lattice point. More...

void	computeScaleDtDs ()

void	computeScaleDtDs ()

void	initExtLatticeCache (const double &_minArcLatticeVal)
	Initializes the cached partial lattices index at the highest arc lower than. More...

void	initExtLatticeCache (const TNumType &_minArcLatticeVal)
	Initializes the cached partial lattices index at the highest arc lower than. More...

bool	initSimLatticeState0 (const double &_lastValidArc, size_t &_firstLaticeInvalidIdx)
	Initializes the simulation lattice (truncation from the. More...

bool	initSimLatticeState0 (const TNumType &_lastValidArc, size_t &_firstLaticeInvalidIdx)
	Initializes the simulation lattice (truncation from the. More...

bool	isEmptyAllExtLattices () const
	Returns true if all extended lattices are empty (the DS lattice as well as user-defined lattices). More...

bool	isEmptyAllExtLattices () const
	Returns true if all extended lattices are empty (the DS lattice as well as user-defined lattices). More...

virtual void	populatePartSimLatticesDtOnly (const size_t &_firstLaticeInvalidIdx, double _arcParamMax)
	Performs simulation and populates simulation and partial lattice when only equal dt lattice is enabled. More...

void	populatePartSimLatticesDtOnly (const size_t &_firstLaticeInvalidIdx, TNumType _arcParamMax)
	Performs simulation and populates simulation and partial lattice when only equal dt lattice is enabled. More...

virtual void	populatePartSimLatticesGeneral (size_t _firstLaticeInvalidIdx, double _arcParamMax, double _minArcLatticeVal)=0
	Performs simulation and populates simulation and partial lattices in the general case of various enabled lattices. More...

void	populatePartSimLatticesGeneral (size_t _firstLaticeInvalidIdx, TNumType _arcParamMax, TNumType _minArcLatticeVal)
	Performs simulation and populates simulation and partial lattices in the general case of various enabled lattices. More...

void	populateTrajSimPartLattice (const size_t &_firstLaticeInvalidIdx)
	Main function that performs resizing, reserving and calls the proper population function. More...

void	populateTrajSimPartLattice (const size_t &_firstLaticeInvalidIdx)
	Main function that performs resizing, reserving and calls the proper population function. More...

void	setBeginEndArcsToLattices (const double &_arcBegin, const double &_arcEnd)
	Sets begin and end arcs to all partial lattices on the first and last container positions. More...

void	setBeginEndArcsToLattices (const TNumType &_arcBegin, const TNumType &_arcEnd)
	Sets begin and end arcs to all partial lattices on the first and last container positions. More...

void	setBeginStateToLattices (const double &_arcBegin)
	Binds reference to the initial simulated state (at. More...

void	setBeginStateToLattices (const TNumType &_arcBegin)
	Binds reference to the initial simulated state (at. More...

void	setEndStateToLattices (const double &_arcEnd)
	Binds reference to the final simulated state (at. More...

void	setEndStateToLattices (const TNumType &_arcEnd)
	Binds reference to the final simulated state (at. More...

void	simAppendToSimPartLat (const double &_arcNow, const int &_latticePtType, const std::size_t &_minArcLatCacheIdx)
	Performs a simulation step (if. More...

void	simAppendToSimPartLat (const TNumType &_arcNow, const int &_latticePtType, const std::size_t &_minArcLatCacheIdx)
	Performs a simulation step (if. More...

Static Protected Member Functions
static bool	cmpLatticePt (const TrajectorySimulator::LatticePoint &a, const TrajectorySimulator::LatticePoint &b)

Protected Attributes
bool	canComputeDistLattice_
	Flags if the StateSim object has access to the StateSimDist functionality. More...

std::vector< int >	partLatIdxCache_
	Vector containing cached container indices for each partial lattice related to the the highest arc lower than the current evaluated arc. More...

bool	scaleDs_

bool	scaleDt_

StateSimPtr	stateSim_
	State simulator object. More...

StateSimSPtr	stateSim_
	State simulator object. More...

Private Types
using	AdvanceFunction = void(TrajectorySimulator< TNumType, TSimType >::*)(const TNumType &)

Private Member Functions
void	advanceFuncSim (const TNumType &_arcNow)

template<bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>
void	advanceFuncSimGrad (const TNumType &_arcNow)

auto &	dtIdpCf (const size_t _i, const TNumType &_arcNow, const int &_latticePtType) const

auto &	dtIdpNm (const size_t _i, const TNumType &_arcNow, const int &_latticePtType) const

size_t	getMinArcLatCacheIdx () const

void	simulateTrajectoryImpl (TNumType _lastValidArc)

Static Private Member Functions
template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(!canComputeStateGrad)>::type * = nullptr>
static void	copyDataFromSimStateToState (const TSimState &_simState, TState &_state)

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>
static void	copyDataFromSimStateToState (const TSimState &_simState, TState &_state)

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(!canComputeStateGrad)>::type * = nullptr>
static void	copyDataFromStateToSimState (const TState &_state, TSimState &_simState)

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>
static void	copyDataFromStateToSimState (const TState &_state, TSimState &_simState)

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(!canComputeStateGrad)>::type * = nullptr>
static void	copyStructureFromSimStateToState (const TSimState &_simState, TState &_state)

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>
static void	copyStructureFromSimStateToState (const TSimState &_simState, TState &_state)

Private Attributes
AdvanceFunction	advanceFunc

double	ds_
	Arc parametrization interval used for the equal distance lattice. More...

TNumType	ds_
	Arc parametrization interval used for the equal distance lattice. More...

double	dsBase_

TNumType	dsBase_

double	dt_
	Arc parametrization interval used for the equal arc-length lattice. More...

TNumType	dt_
	Arc parametrization interval used for the equal arc-length lattice. More...

double	dtBase_

TNumType	dtBase_

bool	firstTime_

size_t	simAppendIdx_

size_t	simulationLatticeActiveSize_

std::vector< std::vector< double * > >	userDefPartLattices_

std::vector< std::vector< TNumType * > >	userDefPartLattices_

Friends
class	TrajectorySimGrade

Detailed Description

template<typename TNumType, typename TSimType>
class tuw::TrajectorySimulator< TNumType, TSimType >

Definition at line 51 of file trajectory_simulator.h.

Member Typedef Documentation

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::AdvanceFunction = void (TrajectorySimulator<TNumType, TSimType>::*)(const TNumType&)

private

Definition at line 426 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::CostsEvaluatorClass = CostsEvaluatorBase<TrajectorySimulator::LatticeVec>

Definition at line 118 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::CostsEvaluatorClass = CostsEvaluatorBase<TrajectorySimulator::LatticeVec>

Definition at line 127 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::LatticeVec = std::vector<LatticePoint>

Definition at line 96 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::LatticeVec = std::vector<LatticePoint>

Definition at line 105 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::LatticeVecSPtr = std::shared_ptr<std::vector<LatticePoint> >

Definition at line 97 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::LatticeVecSPtr = std::shared_ptr<std::vector<LatticePoint>>

Definition at line 106 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::LatticeVecSPtrVec = std::vector<std::shared_ptr<std::vector<LatticePoint> > >

Definition at line 98 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::LatticeVecSPtrVec = std::vector<std::shared_ptr<std::vector<LatticePoint>>>

Definition at line 107 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::StateForSimType = typename TSimType::StateForSimType

Definition at line 64 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::StateSimSPtr = std::shared_ptr<TSimType>

Definition at line 55 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::StateSPtr = std::shared_ptr<StateType>

Definition at line 61 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

using tuw::TrajectorySimulator< TNumType, TSimType >::StateType = typename TSimType::StateType

Definition at line 58 of file trajectory_simulator.hpp.

Member Enumeration Documentation

template<typename TNumType , typename TSimType >

enum tuw::TrajectorySimulator::BaseSimLatticeType : signed int

strong

Fundamental lattice types.

Enumerator
ARC_BG_BK
LATTICE_ARC_EQ_DT	begin and end of the simulation lattice
LATTICE_ARC_EQ_DS	equal arc lattice
LATTICE_ENUM_SIZE	equal distance lattice
ARC_BG_BK
LATTICE_ARC_EQ_DT	begin and end of the simulation lattice
LATTICE_ARC_EQ_DS	equal arc lattice
LATTICE_ENUM_SIZE	equal distance lattice

Definition at line 66 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

enum tuw::TrajectorySimulator::BaseSimLatticeType : signed int

strong

Fundamental lattice types.

Enumerator
ARC_BG_BK
LATTICE_ARC_EQ_DT	begin and end of the simulation lattice
LATTICE_ARC_EQ_DS	equal arc lattice
LATTICE_ENUM_SIZE	equal distance lattice
ARC_BG_BK
LATTICE_ARC_EQ_DT	begin and end of the simulation lattice
LATTICE_ARC_EQ_DS	equal arc lattice
LATTICE_ENUM_SIZE	equal distance lattice

Definition at line 73 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

enum tuw::TrajectorySimulator::SimMode

strong

Mode of the simulation.

Enumerator

ONLINE

PRECALC

Online evaluation. In this mode, every trajectory compuation step is performed incrementally for each

lattice point: choosing the lattices order, simulation, grading (efficient when expected to interrupt simulation prematurely) > Precomputed evaluation. In this mode, every sub-problem is executed entirely for all lattice points: choosing the lattices order, simulation, grading (efficient when full trajectory computation is desired)

Definition at line 56 of file trajectory_simulator.h.

Constructor & Destructor Documentation

template<typename TNumType , typename TSimType >

TrajectorySimulator::TrajectorySimulator ( StateSimPtr _stateSim )

Definition at line 45 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator	(	StateSimPtr	_stateSim,
		std::unique_ptr< CostsEvaluatorClass >	_costsEvaluator
	)

template<typename TNumType , typename TSimType >

virtual tuw::TrajectorySimulator< TNumType, TSimType >::~TrajectorySimulator ( )

virtualdefault

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator ( const TrajectorySimulator< TNumType, TSimType > & )

default

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator ( TrajectorySimulator< TNumType, TSimType > && )

default

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator ( StateSimSPtr & _stateSim )

inline

Definition at line 131 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator	(	StateSimSPtr &	_stateSim,
		std::unique_ptr< CostsEvaluatorClass >	_costsEvaluator
	)

inline

Definition at line 150 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

virtual tuw::TrajectorySimulator< TNumType, TSimType >::~TrajectorySimulator ( )

virtualdefault

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator ( const TrajectorySimulator< TNumType, TSimType > & )

default

template<typename TNumType , typename TSimType >

tuw::TrajectorySimulator< TNumType, TSimType >::TrajectorySimulator ( TrajectorySimulator< TNumType, TSimType > && )

default

Member Function Documentation

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::advanceFuncSim ( const TNumType & _arcNow )

inlineprivate

Definition at line 430 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>

void tuw::TrajectorySimulator< TNumType, TSimType >::advanceFuncSimGrad ( const TNumType & _arcNow )

inlineprivate

Definition at line 438 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::appendToPartLat	(	const double &	_arcNow,
		const int &	_latticePtType,
		const std::size_t &	_minArcLatCacheIdx
	)

protected

Appends the new arc and state pointer to the afferent partial lattice point.

Definition at line 113 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::appendToPartLat	(	const TNumType &	_arcNow,
		const int &	_latticePtType,
		const std::size_t &	_minArcLatCacheIdx
	)

inlineprotected

Appends the new arc and state pointer to the afferent partial lattice point.

Definition at line 636 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

static bool tuw::TrajectorySimulator< TNumType, TSimType >::cmpLatticePt	(	const TrajectorySimulator< TNumType, TSimType >::LatticePoint &	a,
		const TrajectorySimulator< TNumType, TSimType >::LatticePoint &	b
	)

inlinestaticprotected

Definition at line 686 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::computeScaleDtDs ( )

protected

Definition at line 288 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::computeScaleDtDs ( )

inlineprotected

Definition at line 837 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(!canComputeStateGrad)>::type * = nullptr>

static void tuw::TrajectorySimulator< TNumType, TSimType >::copyDataFromSimStateToState	(	const TSimState &	_simState,
		TState &	_state
	)

inlinestaticprivate

Definition at line 472 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>

static void tuw::TrajectorySimulator< TNumType, TSimType >::copyDataFromSimStateToState	(	const TSimState &	_simState,
		TState &	_state
	)

inlinestaticprivate

Definition at line 481 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(!canComputeStateGrad)>::type * = nullptr>

static void tuw::TrajectorySimulator< TNumType, TSimType >::copyDataFromStateToSimState	(	const TState &	_state,
		TSimState &	_simState
	)

inlinestaticprivate

Definition at line 512 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>

static void tuw::TrajectorySimulator< TNumType, TSimType >::copyDataFromStateToSimState	(	const TState &	_state,
		TSimState &	_simState
	)

inlinestaticprivate

Definition at line 521 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(!canComputeStateGrad)>::type * = nullptr>

static void tuw::TrajectorySimulator< TNumType, TSimType >::copyStructureFromSimStateToState	(	const TSimState &	_simState,
		TState &	_state
	)

inlinestaticprivate

Definition at line 492 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<typename TSimState , typename TState , bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>

static void tuw::TrajectorySimulator< TNumType, TSimType >::copyStructureFromSimStateToState	(	const TSimState &	_simState,
		TState &	_state
	)

inlinestaticprivate

Definition at line 501 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

const double & TrajectorySimulator::ds ( ) const

Const reference to arc parametrization interval used for the equal distance lattice.

Definition at line 325 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

const TNumType& tuw::TrajectorySimulator< TNumType, TSimType >::ds ( ) const

inline

Const reference to arc parametrization interval used for the equal distance lattice.

Definition at line 204 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

double & TrajectorySimulator::dsBase ( )

Reference to arc parametrization interval used for the equal distance lattice.

Definition at line 321 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

TNumType& tuw::TrajectorySimulator< TNumType, TSimType >::dsBase ( )

inline

Reference to arc parametrization interval used for the equal distance lattice.

Definition at line 198 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

const double & TrajectorySimulator::dt ( ) const

Const reference to arc parametrization interval used for the equal arc-length lattice.

Definition at line 317 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

const TNumType& tuw::TrajectorySimulator< TNumType, TSimType >::dt ( ) const

inline

Const reference to arc parametrization interval used for the equal arc-length lattice.

Definition at line 192 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

double & TrajectorySimulator::dtBase ( )

Reference to arc parametrization interval used for the equal arc-length lattice.

Definition at line 313 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

TNumType& tuw::TrajectorySimulator< TNumType, TSimType >::dtBase ( )

inline

Reference to arc parametrization interval used for the equal arc-length lattice.

Definition at line 186 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

auto& tuw::TrajectorySimulator< TNumType, TSimType >::dtIdpCf	(	const size_t	_i,
		const TNumType &	_arcNow,
		const int &	_latticePtType
	)		const

inlineprivate

Definition at line 457 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

auto& tuw::TrajectorySimulator< TNumType, TSimType >::dtIdpNm	(	const size_t	_i,
		const TNumType &	_arcNow,
		const int &	_latticePtType
	)		const

inlineprivate

Definition at line 444 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

size_t tuw::TrajectorySimulator< TNumType, TSimType >::getMinArcLatCacheIdx ( ) const

inlineprivate

Definition at line 406 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::initExtLatticeCache ( const double & _minArcLatticeVal )

protected

Initializes the cached partial lattices index at the highest arc lower than.

Parameters

_minArcLatticeVal.

Definition at line 190 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::initExtLatticeCache ( const TNumType & _minArcLatticeVal )

inlineprotected

Initializes the cached partial lattices index at the highest arc lower than.

Parameters

_minArcLatticeVal.

Definition at line 719 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

bool TrajectorySimulator::initSimLatticeState0	(	const double &	_lastValidArc,
		size_t &	_firstLaticeInvalidIdx
	)

protected

Initializes the simulation lattice (truncation from the.

Parameters

_firstLaticeInvalidIdx)	and sets the state simulator inital state (at
_lastValidArc).

Definition at line 164 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::initSimLatticeState0	(	const TNumType &	_lastValidArc,
		size_t &	_firstLaticeInvalidIdx
	)

inlineprotected

Initializes the simulation lattice (truncation from the.

Parameters

_firstLaticeInvalidIdx)	and sets the state simulator inital state (at
_lastValidArc).

Definition at line 694 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

bool TrajectorySimulator::isEmptyAllExtLattices ( ) const

protected

Returns true if all extended lattices are empty (the DS lattice as well as user-defined lattices).

Definition at line 274 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::isEmptyAllExtLattices ( ) const

inlineprotected

Returns true if all extended lattices are empty (the DS lattice as well as user-defined lattices).

Definition at line 816 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

size_t TrajectorySimulator::lattTypeIdx ( int _enumIdx )

static

Converts shifted (int) lattice index to container (size_t) index.

See also

Parameters

BaseSimLatticeType.

Definition at line 269 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

static size_t tuw::TrajectorySimulator< TNumType, TSimType >::lattTypeIdx ( int _enumIdx )

inlinestatic

Converts shifted (int) lattice index to container (size_t) index.

See also

Parameters

BaseSimLatticeType.

Definition at line 831 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

TrajectorySimulator& tuw::TrajectorySimulator< TNumType, TSimType >::operator= ( const TrajectorySimulator< TNumType, TSimType > & )

default

template<typename TNumType , typename TSimType >

TrajectorySimulator& tuw::TrajectorySimulator< TNumType, TSimType >::operator= ( TrajectorySimulator< TNumType, TSimType > && )

default

template<typename TNumType , typename TSimType >

TrajectorySimulator& tuw::TrajectorySimulator< TNumType, TSimType >::operator= ( const TrajectorySimulator< TNumType, TSimType > & )

default

template<typename TNumType , typename TSimType >

TrajectorySimulator& tuw::TrajectorySimulator< TNumType, TSimType >::operator= ( TrajectorySimulator< TNumType, TSimType > && )

default

template<typename TNumType , typename TSimType >

void TrajectorySimulator::populatePartSimLatticesDtOnly	(	const size_t &	_firstLaticeInvalidIdx,
		double	_arcParamMax
	)

protectedvirtual

Performs simulation and populates simulation and partial lattice when only equal dt lattice is enabled.

Reimplemented in tuw::TrajectorySimulatorOnline.

Definition at line 254 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::populatePartSimLatticesDtOnly	(	const size_t &	_firstLaticeInvalidIdx,
		TNumType	_arcParamMax
	)

inlineprotected

Performs simulation and populates simulation and partial lattice when only equal dt lattice is enabled.

Definition at line 348 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

virtual void tuw::TrajectorySimulator< TNumType, TSimType >::populatePartSimLatticesGeneral	(	size_t	_firstLaticeInvalidIdx,
		double	_arcParamMax,
		double	_minArcLatticeVal
	)

protectedpure virtual

Performs simulation and populates simulation and partial lattices in the general case of various enabled lattices.

Implemented in tuw::TrajectorySimulatorPrecalc.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::populatePartSimLatticesGeneral	(	size_t	_firstLaticeInvalidIdx,
		TNumType	_arcParamMax,
		TNumType	_minArcLatticeVal
	)

inlineprotected

Performs simulation and populates simulation and partial lattices in the general case of various enabled lattices.

Definition at line 365 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::populateTrajSimPartLattice ( const size_t & _firstLaticeInvalidIdx )

protected

Main function that performs resizing, reserving and calls the proper population function.

Definition at line 212 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::populateTrajSimPartLattice ( const size_t & _firstLaticeInvalidIdx )

inlineprotected

Main function that performs resizing, reserving and calls the proper population function.

Definition at line 742 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::setBeginEndArcsToLattices	(	const double &	_arcBegin,
		const double &	_arcEnd
	)

protected

Sets begin and end arcs to all partial lattices on the first and last container positions.

Definition at line 147 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setBeginEndArcsToLattices	(	const TNumType &	_arcBegin,
		const TNumType &	_arcEnd
	)

inlineprotected

Sets begin and end arcs to all partial lattices on the first and last container positions.

Definition at line 674 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::setBeginStateToLattices ( const double & _arcBegin )

protected

Binds reference to the initial simulated state (at.

Parameters

_arcBegin) to all partial lattices.

Definition at line 121 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setBeginStateToLattices ( const TNumType & _arcBegin )

inlineprotected

Binds reference to the initial simulated state (at.

Parameters

_arcBegin) to all partial lattices.

Definition at line 644 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::setBoolDsScale ( const bool & _doScale )

Definition at line 308 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setBoolDsScale ( const bool & _doScale )

inline

Definition at line 179 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::setBoolDtScale ( const bool & _doScale )

Definition at line 304 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setBoolDtScale ( const bool & _doScale )

inline

Definition at line 173 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::setEndStateToLattices ( const double & _arcEnd )

protected

Binds reference to the final simulated state (at.

Parameters

_arcEnd) to all partial lattices.

Definition at line 133 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setEndStateToLattices ( const TNumType & _arcEnd )

inlineprotected

Binds reference to the final simulated state (at.

Parameters

_arcEnd) to all partial lattices.

Definition at line 657 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setUserDefLattice ( const std::vector< std::vector< double * > > & _userDefLattices )

Todo:: documentation

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::setUserDefLattice ( const std::vector< std::vector< TNumType * >> & _userDefLattices )

inline

Todo:: documentation

Definition at line 222 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::simAppendToSimPartLat	(	const double &	_arcNow,
		const int &	_latticePtType,
		const std::size_t &	_minArcLatCacheIdx
	)

protected

Performs a simulation step (if.

Parameters

_arcNow is different than last simulated arc) and appends the new arc and state pointer to the afferent partial lattice point.

Definition at line 102 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::simAppendToSimPartLat	(	const TNumType &	_arcNow,
		const int &	_latticePtType,
		const std::size_t &	_minArcLatCacheIdx
	)

inlineprotected

Performs a simulation step (if.

Parameters

_arcNow is different than last simulated arc) and appends the new arc and state pointer to the afferent partial lattice point.

Definition at line 532 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

vector< TrajectorySimulator::LatticePointType > & TrajectorySimulator::simLattice ( )

Reference to the lattice that requested each simulated trajectory state.

Definition at line 337 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

const vector< TrajectorySimulator::LatticePointType > & TrajectorySimulator::simLattice ( ) const

Const reference to the lattice that requested each simulated trajectory state.

Definition at line 341 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

LatticePointType& tuw::TrajectorySimulator< TNumType, TSimType >::simLatticeI ( const size_t & _i )

inline

Definition at line 854 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

const LatticePointType& tuw::TrajectorySimulator< TNumType, TSimType >::simLatticeI ( const size_t & _i ) const

inline

Definition at line 860 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

size_t tuw::TrajectorySimulator< TNumType, TSimType >::simLatticeSize ( ) const

inline

Definition at line 866 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

virtual void tuw::TrajectorySimulator< TNumType, TSimType >::simulateTrajectory ( double _lastValidArc = 0 )

pure virtual

Simulates (discrete numerical evaluation) an entire trajectory according to the specified intervals and lattices.

Parameters

_lastValidArc Specifies the last arc at which the previous simulation was still valid. Setting it non-zero is beneficial if already computed (in memory) trajStates() are guaranteed to not have changed. Thus, it allows the function to simulate only portions of the entire arc parametrization domain.

Implemented in tuw::TrajectorySimulatorOnline, and tuw::TrajectorySimulatorPrecalc.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::simulateTrajectory ( TNumType _lastValidArc = 0 )

inline

Definition at line 266 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::simulateTrajectoryImpl ( TNumType _lastValidArc )

inlineprivate

Definition at line 284 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

template<bool canComputeStateGrad = CanComputeStateGrad, typename std::enable_if<(canComputeStateGrad)>::type * = nullptr>

void tuw::TrajectorySimulator< TNumType, TSimType >::simulateTrajectoryWithGrad ( TNumType _lastValidArc = 0 )

inline

Definition at line 276 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

StateSimPtr TrajectorySimulator::stateSim ( )

Reference of the state simulator object.

Definition at line 329 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

const StateSimPtr TrajectorySimulator::stateSim ( ) const

Const reference of the state simulator object.

Definition at line 333 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

StateSimSPtr& tuw::TrajectorySimulator< TNumType, TSimType >::stateSim ( )

inline

Reference of the state simulator object.

Definition at line 210 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

const StateSimSPtr& tuw::TrajectorySimulator< TNumType, TSimType >::stateSim ( ) const

inline

Const reference of the state simulator object.

Definition at line 216 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

void TrajectorySimulator::updateUserDefLattice ( )

Definition at line 90 of file trajectory_simulator.cpp.

template<typename TNumType , typename TSimType >

void tuw::TrajectorySimulator< TNumType, TSimType >::updateUserDefLattice ( )

inline

Definition at line 243 of file trajectory_simulator.hpp.

Friends And Related Function Documentation

template<typename TNumType , typename TSimType >

TrajectorySimGrade

friend

Definition at line 278 of file trajectory_simulator.h.

Member Data Documentation

template<typename TNumType , typename TSimType >

AdvanceFunction tuw::TrajectorySimulator< TNumType, TSimType >::advanceFunc

private

Definition at line 427 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::canComputeDistLattice_

protected

Flags if the StateSim object has access to the StateSimDist functionality.

Definition at line 252 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

constexpr const bool tuw::TrajectorySimulator< TNumType, TSimType >::CanComputeStateGrad

static

Initial value:

=

!std::is_same<EmptyGradType, typename StateMapBaseTraits<StateType>::StateWithGradNmType>::value

Definition at line 67 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

std::unique_ptr< CostsEvaluatorClass > tuw::TrajectorySimulator< TNumType, TSimType >::costsEvaluator_

Definition at line 276 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

double tuw::TrajectorySimulator< TNumType, TSimType >::ds_

private

Arc parametrization interval used for the equal distance lattice.

Definition at line 258 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

TNumType tuw::TrajectorySimulator< TNumType, TSimType >::ds_

private

Arc parametrization interval used for the equal distance lattice.

Definition at line 895 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

double tuw::TrajectorySimulator< TNumType, TSimType >::dsBase_

private

Definition at line 264 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

TNumType tuw::TrajectorySimulator< TNumType, TSimType >::dsBase_

private

Definition at line 901 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

double tuw::TrajectorySimulator< TNumType, TSimType >::dt_

private

Arc parametrization interval used for the equal arc-length lattice.

Definition at line 255 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

TNumType tuw::TrajectorySimulator< TNumType, TSimType >::dt_

private

Arc parametrization interval used for the equal arc-length lattice.

Definition at line 892 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

double tuw::TrajectorySimulator< TNumType, TSimType >::dtBase_

private

Definition at line 261 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

TNumType tuw::TrajectorySimulator< TNumType, TSimType >::dtBase_

private

Definition at line 898 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

static constexpr const std::size_t tuw::TrajectorySimulator< TNumType, TSimType >::extArcLatIdxBegin

static

Initial value:

=

asInt(BaseSimLatticeType::LATTICE_ENUM_SIZE) + asInt(BaseSimLatticeType::LATTICE_ARC_EQ_DS)

Definition at line 73 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::firstTime_

private

Definition at line 916 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

std::vector< int > tuw::TrajectorySimulator< TNumType, TSimType >::partLatIdxCache_

protected

Vector containing cached container indices for each partial lattice related to the the highest arc lower than the current evaluated arc.

Definition at line 249 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

LatticeVecSPtrVec tuw::TrajectorySimulator< TNumType, TSimType >::partLattices_

Vector containing the ordered sequence of arc parametrizations for each of the used lattices.

Definition at line 245 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::scaleDs_

protected

Definition at line 270 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::scaleDt_

protected

Definition at line 267 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

size_t tuw::TrajectorySimulator< TNumType, TSimType >::simAppendIdx_

private

Definition at line 913 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

bool tuw::TrajectorySimulator< TNumType, TSimType >::simulatingWithGrad

Simulates (discrete numerical evaluation) an entire trajectory according to the specified intervals and lattices.

Parameters

_lastValidArc Specifies the last arc at which the previous simulation was still valid. Setting it non-zero is beneficial if already computed (in memory) trajStates() are guaranteed to not have changed. Thus, it allows the function to simulate only portions of the entire arc parametrization domain.

Definition at line 263 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

std::vector< LatticePointType > tuw::TrajectorySimulator< TNumType, TSimType >::simulationLattice_

Lattice requesting each simulated trajectory state.

Definition at line 242 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

size_t tuw::TrajectorySimulator< TNumType, TSimType >::simulationLatticeActiveSize_

private

Definition at line 879 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

StateSimPtr tuw::TrajectorySimulator< TNumType, TSimType >::stateSim_

protected

State simulator object.

Definition at line 239 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

StateSimSPtr tuw::TrajectorySimulator< TNumType, TSimType >::stateSim_

protected

State simulator object.

Definition at line 873 of file trajectory_simulator.hpp.

template<typename TNumType , typename TSimType >

std::vector<std::vector<double*> > tuw::TrajectorySimulator< TNumType, TSimType >::userDefPartLattices_

private

Definition at line 273 of file trajectory_simulator.h.

template<typename TNumType , typename TSimType >

std::vector<std::vector<TNumType*> > tuw::TrajectorySimulator< TNumType, TSimType >::userDefPartLattices_

private

Definition at line 910 of file trajectory_simulator.hpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

template<typename TNumType, typename TSimType> class tuw::TrajectorySimulator< TNumType, TSimType >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename TNumType, typename TSimType>
class tuw::TrajectorySimulator< TNumType, TSimType >