#include <trajectory_simulator_online.h>

Inheritance diagram for tuw::TrajectorySimulatorOnline:

Public Member Functions
TrajectorySimulatorOnline &	operator= (const TrajectorySimulatorOnline &)=default

TrajectorySimulatorOnline &	operator= (TrajectorySimulatorOnline &&)=default

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

	TrajectorySimulatorOnline (StateSimPtr _stateSim)

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

	TrajectorySimulatorOnline (const TrajectorySimulatorOnline &)=default

	TrajectorySimulatorOnline (TrajectorySimulatorOnline &&)=default

virtual	~TrajectorySimulatorOnline ()=default

Public Member Functions inherited from tuw::TrajectorySimulator< TNumType, TSimType >
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

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

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

void	populatePartSimLatticesGeneral (std::size_t _firstLaticeInvalidIdx, double _arcParamMax, double _minArcLatticeVal) override

void	resizeBeginDtOnly (const double &_arcParamMax)
	Performs lattices resizing relevant to the DT-only online simulation algorithm. More...

void	resizeBeginGeneral (const double &_arcParamMax)
	Performs lattices resizing relevant to the general online simulation algorithm. More...

double	toNextIntMult (const double &_x, const double &_dx) const
	Numeric safe incremental rounding of x (finds the smallest multiple of. More...

Additional Inherited Members
Public Types inherited from tuw::TrajectorySimulator< TNumType, TSimType >
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

Static Public Member Functions inherited from tuw::TrajectorySimulator< TNumType, TSimType >
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 inherited from tuw::TrajectorySimulator< TNumType, TSimType >
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 inherited from tuw::TrajectorySimulator< TNumType, TSimType >
static constexpr const bool	CanComputeStateGrad

static constexpr const std::size_t	extArcLatIdxBegin

Protected Member Functions inherited from tuw::TrajectorySimulator< TNumType, TSimType >
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...

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

Protected Attributes inherited from tuw::TrajectorySimulator< TNumType, TSimType >
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...

Detailed Description

Definition at line 42 of file trajectory_simulator_online.h.

Constructor & Destructor Documentation

TrajectorySimulatorOnline::TrajectorySimulatorOnline ( StateSimPtr _stateSim )

Definition at line 41 of file trajectory_simulator_online.cpp.

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

virtual tuw::TrajectorySimulatorOnline::~TrajectorySimulatorOnline ( )

virtualdefault

tuw::TrajectorySimulatorOnline::TrajectorySimulatorOnline ( const TrajectorySimulatorOnline & )

default

tuw::TrajectorySimulatorOnline::TrajectorySimulatorOnline ( TrajectorySimulatorOnline && )

default

Member Function Documentation

TrajectorySimulatorOnline& tuw::TrajectorySimulatorOnline::operator= ( const TrajectorySimulatorOnline & )

default

TrajectorySimulatorOnline& tuw::TrajectorySimulatorOnline::operator= ( TrajectorySimulatorOnline && )

default

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

overrideprivatevirtual

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

Todo:: inefficient lol

Reimplemented from tuw::TrajectorySimulator< TNumType, TSimType >.

Definition at line 259 of file trajectory_simulator_online.cpp.

void TrajectorySimulatorOnline::populatePartSimLatticesGeneral	(	std::size_t	_firstLaticeInvalidIdx,
		double	_arcParamMax,
		double	_minArcLatticeVal
	)

overrideprivate

Definition at line 83 of file trajectory_simulator_online.cpp.

void TrajectorySimulatorOnline::resizeBeginDtOnly ( const double & _arcParamMax )

private

Performs lattices resizing relevant to the DT-only online simulation algorithm.

Definition at line 308 of file trajectory_simulator_online.cpp.

void TrajectorySimulatorOnline::resizeBeginGeneral ( const double & _arcParamMax )

private

Performs lattices resizing relevant to the general online simulation algorithm.

Definition at line 241 of file trajectory_simulator_online.cpp.

void TrajectorySimulatorOnline::simulateTrajectory ( double _lastValidArc = 0 )

overridevirtual

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.

Implements tuw::TrajectorySimulator< TNumType, TSimType >.

Definition at line 52 of file trajectory_simulator_online.cpp.

double TrajectorySimulatorOnline::toNextIntMult	(	const double &	_x,
		const double &	_dx
	)		const

private

Numeric safe incremental rounding of x (finds the smallest multiple of.

Parameters

_dx	larger than
_x).

Definition at line 69 of file trajectory_simulator_online.cpp.

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

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation