Templated partial implementation of StateSim. More...

#include <state_sim_template.hpp>

Inheritance diagram for tuw::StateSimTemplate< StateSize, StateNmSize >:

Public Member Functions
void	advance (double _arc) override
	Performs one simulation step to parametrized arc length _arc. More...

void	advanceODEInt (double _arc)

virtual StateSPtr	cloneState () const override
	Clone-to-base-class-ptr function. More...

StateSimTemplate &	operator= (const StateSimTemplate &_o)

StateSimTemplate &	operator= (StateSimTemplate &&)=delete

void	setDiscrType (const RungeKutta::DiscretizationType &_discrType) override
	Set discretization type used in the simulation. More...

void	setState (StateSPtr &_otherState) override
	Sets the state variables to the values of _otherState. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable). More...

State &	state0 () override
	Reference to the initial state. More...

State &	stateCf () override
	Reference to the actual closed-form state. More...

State &	stateNm () override
	Reference to the actual numerical-computed state. More...

	StateSimTemplate ()=default

	StateSimTemplate (const StateSimTemplate &_o)

	StateSimTemplate (StateSimTemplate &&)=delete

void	sys1 (const std::array< double, StateNmSize > &_x, std::array< double, StateNmSize > &_dxdt, const double _t)

void	toState0 () override
	Resets entire state to state0. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable). More...

double &	value (const std::size_t &_i) override
	Access state variable based on index _i. More...

const double &	value (const std::size_t &_i) const override
	Const access state variable based on index _i. More...

size_t	valueSize () const override
	Size of the state variables. More...

virtual	~StateSimTemplate ()=default

Public Member Functions inherited from tuw::StateSim
virtual void	advanceSet0 (const double &_tEnd, const double &_dt)

virtual StateSimUPtr	cloneStateSim () const =0
	Clone-to-base-class-ptr function. More...

StateSim &	operator= (const StateSim &)=default

StateSim &	operator= (StateSim &&)=delete

virtual ParamFuncs *	paramFuncs ()=0
	Returns (if applicable) reference of the parametric functions structure. Otherwise returns nullptr. More...

virtual ParamFuncsDist *	paramFuncsDist ()=0
	Returns (if applicable) reference of the parametric functions distance-extended structure. Otherwise returns nullptr. More...

virtual void	setStateCf (const double &_arc, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::AFTER_LAST)=0
	Sets closed-form state at arc _arc. More...

virtual void	setStateCfNmStep (const double &_arc, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::AFTER_LAST)

virtual double	stateArc () const =0
	Value of the current arc parametrization of the state. More...

virtual double	stateDist () const =0
	Value of the current traveled distance of the state. More...

	StateSim ()=default

	StateSim (const StateSim &)=default

	StateSim (StateSim &&)=delete

virtual	~StateSim ()=default

Public Member Functions inherited from tuw::State
void	fromEIGENVec (const Eigen::VectorXd &_vec)
	Copies all values from an Eigen vector. The valueSize of the State object has to be equal with the Eigen vector size. More...

void	fromSTLVec (const std::vector< double > &_vec)
	Copies all values from an STL vector. The valueSize of the State object has to be equal with the STL vector size. More...

State &	operator= (const State &)=default

State &	operator= (State &&)=default

virtual void	resize (const size_t &_i)
	Resizes the array. More...

	State (State *_parent)

	State ()

	State (const State &)=default

	State (State &&)=default

virtual StateSPtr &	state (const std::size_t &_i)
	Access sub-state based on index _i. More...

virtual size_t	stateSize () const
	Size of the sub-states. More...

void	toEIGENVec (Eigen::VectorXd &_vec)
	Converts all the array values to an Eigen vector. More...

void	toSTLVec (std::vector< double > &_vec)
	Converts all the array values to an STL vector. More...

virtual void	updateSize ()
	Performs internal manipulation when any of the underlying arrays are being resized. More...

virtual	~State ()=default

Public Attributes
double	arcOld

Protected Attributes
std::shared_ptr< boost::numeric::odeint::runge_kutta4< std::array< double, StateNmSize > > >	rk

StateArray< StateSize >	state0_
	State array storing the initial value. More...

StateArray< StateSize-StateNmSize >	stateCf_
	State array storing the closed-form-computed value. More...

StateArray< StateNmSize >	stateNm_
	State array storing the numerical-computed value. More...

StateArray< StateNmSize >	stateNmDotCache_
	State array caching the evaluation of the last call of the value transition function. More...

Protected Attributes inherited from tuw::State
State *	parent_
	Pointer to the parent State structure. More...

Private Attributes
RungeKutta::DiscretizationFuncPtr	discrFunc_
	Pointer to the active discretization-method function. More...

Additional Inherited Members
Static Public Member Functions inherited from tuw::State
static std::vector< double > &	minus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...

static Eigen::VectorXd &	minus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...

static State &	minus (State &_lhs, State &_rhs, State &_ans)
	Performs substraction. Answer variable, left operand and right operand are required to have the same valueSize. More...

static std::vector< double > &	plus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...

static Eigen::VectorXd &	plus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...

static State &	plus (State &_lhs, State &_rhs, State &_ans)
	Performs addition. Answer variable, left operand and right operand are required to have the same valueSize. More...

Protected Member Functions inherited from tuw::State
void	callRootUpdateSize ()
	Calls (if present) the parent updateSize procedure. Otherwise performs root updateSize. More...

Detailed Description

template<std::size_t StateSize, std::size_t StateNmSize>
class tuw::StateSimTemplate< StateSize, StateNmSize >

Templated partial implementation of StateSim.

Template Parameters

StateSize	Size of the full state.
StateNmSize	Size of the numerically-evaluated state.

Definition at line 48 of file state_sim_template.hpp.

Constructor & Destructor Documentation

template<std::size_t StateSize, std::size_t StateNmSize>

tuw::StateSimTemplate< StateSize, StateNmSize >::StateSimTemplate ( )

default

template<std::size_t StateSize, std::size_t StateNmSize>

virtual tuw::StateSimTemplate< StateSize, StateNmSize >::~StateSimTemplate ( )

virtualdefault

template<std::size_t StateSize, std::size_t StateNmSize>

tuw::StateSimTemplate< StateSize, StateNmSize >::StateSimTemplate ( const StateSimTemplate< StateSize, StateNmSize > & _o )

inline

Definition at line 68 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

tuw::StateSimTemplate< StateSize, StateNmSize >::StateSimTemplate ( StateSimTemplate< StateSize, StateNmSize > && )

delete

Member Function Documentation

template<std::size_t StateSize, std::size_t StateNmSize>

void tuw::StateSimTemplate< StateSize, StateNmSize >::advance ( double _arc )

inlineoverridevirtual

Performs one simulation step to parametrized arc length _arc.

Implements tuw::StateSim.

Definition at line 195 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

void tuw::StateSimTemplate< StateSize, StateNmSize >::advanceODEInt ( double _arc )

inline

Definition at line 201 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

virtual StateSPtr tuw::StateSimTemplate< StateSize, StateNmSize >::cloneState ( ) const

inlineoverridevirtual

Clone-to-base-class-ptr function.

Implements tuw::State.

Definition at line 94 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

StateSimTemplate& tuw::StateSimTemplate< StateSize, StateNmSize >::operator= ( const StateSimTemplate< StateSize, StateNmSize > & _o )

inline

Definition at line 77 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

StateSimTemplate& tuw::StateSimTemplate< StateSize, StateNmSize >::operator= ( StateSimTemplate< StateSize, StateNmSize > && )

delete

template<std::size_t StateSize, std::size_t StateNmSize>

void tuw::StateSimTemplate< StateSize, StateNmSize >::setDiscrType ( const RungeKutta::DiscretizationType & _discrType )

inlineoverridevirtual

Set discretization type used in the simulation.

Implements tuw::StateSim.

Definition at line 124 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

void tuw::StateSimTemplate< StateSize, StateNmSize >::setState ( StateSPtr & _otherState )

inlineoverridevirtual

Sets the state variables to the values of _otherState. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable).

Implements tuw::StateSim.

Definition at line 130 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

State& tuw::StateSimTemplate< StateSize, StateNmSize >::state0 ( )

inlineoverridevirtual

Reference to the initial state.

Implements tuw::StateSim.

Definition at line 145 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

State& tuw::StateSimTemplate< StateSize, StateNmSize >::stateCf ( )

inlineoverridevirtual

Reference to the actual closed-form state.

Implements tuw::StateSim.

Definition at line 157 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

State& tuw::StateSimTemplate< StateSize, StateNmSize >::stateNm ( )

inlineoverridevirtual

Reference to the actual numerical-computed state.

Implements tuw::StateSim.

Definition at line 151 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

void tuw::StateSimTemplate< StateSize, StateNmSize >::sys1	(	const std::array< double, StateNmSize > &	_x,
		std::array< double, StateNmSize > &	_dxdt,
		const double	_t
	)

inline

Definition at line 218 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

void tuw::StateSimTemplate< StateSize, StateNmSize >::toState0 ( )

inlineoverridevirtual

Resets entire state to state0. It also sets the control structure evaluation point at most at the new arc parametrization (if applicable).

Implements tuw::StateSim.

Definition at line 110 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

double& tuw::StateSimTemplate< StateSize, StateNmSize >::value ( const std::size_t & _i )

inlineoverridevirtual

Access state variable based on index _i.

Implements tuw::State.

Definition at line 169 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

const double& tuw::StateSimTemplate< StateSize, StateNmSize >::value ( const std::size_t & _i ) const

inlineoverridevirtual

Const access state variable based on index _i.

Implements tuw::State.

Definition at line 182 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

size_t tuw::StateSimTemplate< StateSize, StateNmSize >::valueSize ( ) const

inlineoverridevirtual

Size of the state variables.

Implements tuw::State.

Definition at line 163 of file state_sim_template.hpp.

Member Data Documentation

template<std::size_t StateSize, std::size_t StateNmSize>

double tuw::StateSimTemplate< StateSize, StateNmSize >::arcOld

Definition at line 225 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

RungeKutta::DiscretizationFuncPtr tuw::StateSimTemplate< StateSize, StateNmSize >::discrFunc_

private

Pointer to the active discretization-method function.

Definition at line 244 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

std::shared_ptr<boost::numeric::odeint::runge_kutta4<std::array<double, StateNmSize> > > tuw::StateSimTemplate< StateSize, StateNmSize >::rk

protected

Definition at line 228 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

StateArray<StateSize> tuw::StateSimTemplate< StateSize, StateNmSize >::state0_

protected

State array storing the initial value.

Definition at line 232 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

StateArray<StateSize - StateNmSize> tuw::StateSimTemplate< StateSize, StateNmSize >::stateCf_

protected

State array storing the closed-form-computed value.

Definition at line 241 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

StateArray<StateNmSize> tuw::StateSimTemplate< StateSize, StateNmSize >::stateNm_

protected

State array storing the numerical-computed value.

Definition at line 235 of file state_sim_template.hpp.

template<std::size_t StateSize, std::size_t StateNmSize>

StateArray<StateNmSize> tuw::StateSimTemplate< StateSize, StateNmSize >::stateNmDotCache_

protected

State array caching the evaluation of the last call of the value transition function.

Definition at line 238 of file state_sim_template.hpp.

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

state_sim_template.hpp

Public Member Functions

Public Attributes

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

template<std::size_t StateSize, std::size_t StateNmSize> class tuw::StateSimTemplate< StateSize, StateNmSize >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<std::size_t StateSize, std::size_t StateNmSize>
class tuw::StateSimTemplate< StateSize, StateNmSize >