-
Notifications
You must be signed in to change notification settings - Fork 0
/
classTrajectoryGenerator.html
144 lines (141 loc) · 10.2 KB
/
classTrajectoryGenerator.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.8"/>
<title>fmrbenchmark: TrajectoryGenerator Class Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
$(document).ready(function() { searchBox.OnSelectItem(0); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td style="padding-left: 0.5em;">
<div id="projectname">fmrbenchmark
 <span id="projectnumber">0.0.4</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.8 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Friends</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Modules</a></div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="classTrajectoryGenerator-members.html">List of all members</a> </div>
<div class="headertitle">
<div class="title">TrajectoryGenerator Class Reference<div class="ingroups"><a class="el" href="group__integrator__chains.html">Problem domain: Scaling chains of integrators</a></div></div> </div>
</div><!--header-->
<div class="contents">
<p>Flow computation for the problem domain: scaling chains of integrators.
<a href="classTrajectoryGenerator.html#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2316c3a410fd90dda76e7bc67c1a99e0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2316c3a410fd90dda76e7bc67c1a99e0"></a>
void </td><td class="memItemRight" valign="bottom"><b>clear</b> ()</td></tr>
<tr class="separator:a2316c3a410fd90dda76e7bc67c1a99e0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a35fed8d69f726d2cddbc20a1e658c0d0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a35fed8d69f726d2cddbc20a1e658c0d0"></a>
double </td><td class="memItemRight" valign="bottom"><b>get_output_dim</b> () const </td></tr>
<tr class="separator:a35fed8d69f726d2cddbc20a1e658c0d0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9e7ccfd602fc4be1b57c294ceb60b474"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9e7ccfd602fc4be1b57c294ceb60b474"></a>
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectoryGenerator.html#a9e7ccfd602fc4be1b57c294ceb60b474">get_state</a> (int i) const </td></tr>
<tr class="memdesc:a9e7ccfd602fc4be1b57c294ceb60b474"><td class="mdescLeft"> </td><td class="mdescRight">Access to full, current state vector. <br /></td></tr>
<tr class="separator:a9e7ccfd602fc4be1b57c294ceb60b474"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae4ce9f42fa8e6f171aa61e285eadfbdf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae4ce9f42fa8e6f171aa61e285eadfbdf"></a>
double </td><td class="memItemRight" valign="bottom"><b>get_state_dim</b> () const </td></tr>
<tr class="separator:ae4ce9f42fa8e6f171aa61e285eadfbdf"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:acf020e8ea76c2fb1fd63fbf07097197d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acf020e8ea76c2fb1fd63fbf07097197d"></a>
double </td><td class="memItemRight" valign="bottom"><b>get_time</b> () const </td></tr>
<tr class="separator:acf020e8ea76c2fb1fd63fbf07097197d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6e8b230d7277e998f1fa3810aced79b6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6e8b230d7277e998f1fa3810aced79b6"></a>
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectoryGenerator.html#a6e8b230d7277e998f1fa3810aced79b6">operator[]</a> (int i) const </td></tr>
<tr class="memdesc:a6e8b230d7277e998f1fa3810aced79b6"><td class="mdescLeft"> </td><td class="mdescRight">Output vector. <br /></td></tr>
<tr class="separator:a6e8b230d7277e998f1fa3810aced79b6"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0ca9a6155dde9320fd0b72d0310fd2f1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ca9a6155dde9320fd0b72d0310fd2f1"></a>
double </td><td class="memItemRight" valign="bottom"><a class="el" href="classTrajectoryGenerator.html#a0ca9a6155dde9320fd0b72d0310fd2f1">step</a> (double dt, const Eigen::VectorXd &U)</td></tr>
<tr class="memdesc:a0ca9a6155dde9320fd0b72d0310fd2f1"><td class="mdescLeft"> </td><td class="mdescRight">Forward Euler integration for duration dt using constant input U. <br /></td></tr>
<tr class="separator:a0ca9a6155dde9320fd0b72d0310fd2f1"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:adbcc7ff16af657e76daf712ee6a9b2b9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbcc7ff16af657e76daf712ee6a9b2b9"></a>
 </td><td class="memItemRight" valign="bottom"><b>TrajectoryGenerator</b> (int numdim_output, int highest_order_deriv)</td></tr>
<tr class="separator:adbcc7ff16af657e76daf712ee6a9b2b9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9d7b95cf9aaad92362ec08f513d163af"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d7b95cf9aaad92362ec08f513d163af"></a>
 </td><td class="memItemRight" valign="bottom"><b>TrajectoryGenerator</b> (Eigen::VectorXd Xinit, int numdim_output)</td></tr>
<tr class="separator:a9d7b95cf9aaad92362ec08f513d163af"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Flow computation for the problem domain: scaling chains of integrators. </p>
<p>The trajectories are the solutions of a linear time-invariant control system. Control input is applied using a zero-order hold, i.e., applied constantly during the duration given as the first parameter of <a class="el" href="classTrajectoryGenerator.html#a0ca9a6155dde9320fd0b72d0310fd2f1" title="Forward Euler integration for duration dt using constant input U. ">step()</a>.</p>
<p>Let m be the highest order of derivative, and let n be the dimension of the output space. The state variable indexing is such that the first output variable is the first state variable, the second output variable is the second state variable, etc. Thus the component systems are interleaved in the sense that the first subsystem is formed from state variable indices 1, 1+n, 1+2n, ..., 1+(m-1)n, and the input to this subsystem is applied at state variable index 1+(m-1)n. </p>
</div><hr/>The documentation for this class was generated from the following file:<ul>
<li>main.cpp</li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Tue May 17 2016 05:53:50 for fmrbenchmark by  <a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.8
</small></address>
</body>
</html>