Rcs::DSLinear Class Reference

#include <DynamicalSystem.h>

Inheritance diagram for Rcs::DSLinear:

Collaboration diagram for Rcs::DSLinear:

Public Member Functions
	DSLinear (const Eigen::MatrixXd &errorDynamics, const Eigen::VectorXd &equilibriumPoint)
virtual DynamicalSystem *	clone () const
void	step (Eigen::VectorXd &x_dot, const Eigen::VectorXd &x, double dt) const
Eigen::VectorXd	getGoal () const
void	setGoal (const Eigen::VectorXd &x_des)
Public Member Functions inherited from Rcs::DynamicalSystem
	DynamicalSystem ()=default
virtual	~DynamicalSystem ()=default
virtual double	goalDistance (const Eigen::VectorXd &x_curr) const
unsigned int	getStateDim () const

Protected Attributes
Eigen::MatrixXd	errorDynamics
Eigen::VectorXd	equilibriumPoint

Additional Inherited Members
Static Public Member Functions inherited from Rcs::DynamicalSystem
static DynamicalSystem *	create (PropertySource *properties, unsigned int innerTaskDim)
Public Attributes inherited from Rcs::DynamicalSystem
Eigen::VectorXd	x_dot_des

Detailed Description

Linear Dynamical System

Definition at line 153 of file DynamicalSystem.h.

Constructor & Destructor Documentation

DSLinear()

Rcs::DSLinear::DSLinear	(	const Eigen::MatrixXd &	errorDynamics,
		const Eigen::VectorXd &	equilibriumPoint
	)

!Constructor

Parameters

[in]	errorDynamics	dynamics matrix
[in]	equilibriumPoint	attractor

DSLinear

Definition at line 248 of file DynamicalSystem.cpp.

Member Function Documentation

clone()

DynamicalSystem * Rcs::DSLinear::clone ( ) const

virtual

Create a deep copy of this DynamicalSystem.

Returns

deep copy

Implements Rcs::DynamicalSystem.

Definition at line 251 of file DynamicalSystem.cpp.

getGoal()

Eigen::VectorXd Rcs::DSLinear::getGoal ( ) const

virtual

Get the goal state for this dynamical system.

Returns

x_des desired state for the system to pursue

Implements Rcs::DynamicalSystem.

Definition at line 265 of file DynamicalSystem.cpp.

setGoal()

void Rcs::DSLinear::setGoal ( const Eigen::VectorXd &  x_des )

virtual

Set the goal state for this dynamical system. The goal state is the system's desired equilibrium state. In the presence of repellers, this Systems without an explicit goal state do not need to override this. By default, it does othing.

Parameters

[in]

x_des

desired state for the system to pursue

Implements Rcs::DynamicalSystem.

Definition at line 270 of file DynamicalSystem.cpp.

step()

void Rcs::DSLinear::step ( Eigen::VectorXd &  x_dot, const Eigen::VectorXd &  x, double  dt  ) const

virtual

Advance the dynamical system one step in time. Compute the velocity x_dot with the desired velocity in state x. For acceleration-based systems, x_dot is prefilled with the current velocity.

Parameters

[in,out]	x_dot	current velocity, override with new desired velocity
[in]	x	current state
[in]	dt	time step size for integration

Implements Rcs::DynamicalSystem.

Definition at line 256 of file DynamicalSystem.cpp.

Member Data Documentation

equilibriumPoint

Eigen::VectorXd Rcs::DSLinear::equilibriumPoint

protected

Definition at line 173 of file DynamicalSystem.h.

errorDynamics

Eigen::MatrixXd Rcs::DSLinear::errorDynamics

protected

Definition at line 172 of file DynamicalSystem.h.

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

• src/cpp/core/action/DynamicalSystem.h
• src/cpp/core/action/DynamicalSystem.cpp