Rcs::DSMassSpringDamper Class Reference

#include <DynamicalSystem.h>

Inheritance diagram for Rcs::DSMassSpringDamper:

Collaboration diagram for Rcs::DSMassSpringDamper:

Classes
struct	Spring

Public Member Functions
	DSMassSpringDamper (const Spring &attractor, const std::vector< Spring > &repellers, const double damping, const double mass=1.0)
virtual DynamicalSystem *	clone () const
void	step (Eigen::VectorXd &x_ddot, const 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::DSSecondOrder
virtual void	step (Eigen::VectorXd &x_dot, const Eigen::VectorXd &x, double dt) const
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
Spring	attractorSpring
std::vector< Spring >	repellerSprings
double	damping
double	mass

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

Mass-Spring-Damper Dynamical System

Definition at line 180 of file DynamicalSystem.h.

Constructor & Destructor Documentation

DSMassSpringDamper()

Rcs::DSMassSpringDamper::DSMassSpringDamper	(	const Spring &	attractor,
		const std::vector< Spring > &	repellers,
		const double	damping,
		const double	mass = 1.0
	)

Constructor

Parameters

[in]	attractor	attractor spring pulling the mass to the goal poisiton (there is only one)
[in]	repellers	repeller springs pushing the mass away from points in space
[in]	damping	of the dynamical system (there is only on)
[in]	mass	mass of the particle (default: unit mass 1kg)

DSMassSpringDamper

Definition at line 279 of file DynamicalSystem.cpp.

Member Function Documentation

clone()

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

virtual

Create a deep copy of this DynamicalSystem.

Returns

deep copy

Implements Rcs::DynamicalSystem.

Reimplemented in Rcs::DSMassSpringDamperNonlinear.

Definition at line 286 of file DynamicalSystem.cpp.

getGoal()

Eigen::VectorXd Rcs::DSMassSpringDamper::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 323 of file DynamicalSystem.cpp.

setGoal()

void Rcs::DSMassSpringDamper::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 328 of file DynamicalSystem.cpp.

step()

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

virtual

Advance the dynamical system one step in time. Compute the acceleration x_ddot given the velocity x_dot and the state x, and the time step size dt.

Parameters

[out]	x_ddot	fill with desired acceleration, is not initialized
[in]	x_dot	current velocity
[in]	x	current state
[in]	dt	time step size for integration

Implements Rcs::DSSecondOrder.

Reimplemented in Rcs::DSMassSpringDamperNonlinear.

Definition at line 291 of file DynamicalSystem.cpp.

Member Data Documentation

attractorSpring

Spring Rcs::DSMassSpringDamper::attractorSpring

protected

attractor spring pulling the mass to the goal poisiton (there is only one for every dynamical system)

Definition at line 215 of file DynamicalSystem.h.

damping

double Rcs::DSMassSpringDamper::damping

protected

daming of the dynamical system (there is only one for every dynamical system)

Definition at line 219 of file DynamicalSystem.h.

mass

double Rcs::DSMassSpringDamper::mass

protected

mass of the particle

Definition at line 221 of file DynamicalSystem.h.

repellerSprings

std::vector<Spring> Rcs::DSMassSpringDamper::repellerSprings

protected

repeller springs pushing the mass away from points in space (e.g. obstacles)

Definition at line 217 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