Inheritance diagram for Rcs::DSMassSpringDamperNonlinear:

Collaboration diagram for Rcs::DSMassSpringDamperNonlinear:

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Public Member Functions
	DSMassSpringDamperNonlinear (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

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

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

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

Protected Attributes inherited from Rcs::DSMassSpringDamper
Spring	attractorSpring

std::vector< Spring >	repellerSprings

double	damping

double	mass

Detailed Description

Clampled Nonlinear Mass-Spring-Damper Dynamical System

Definition at line 228 of file DynamicalSystem.h.

Constructor & Destructor Documentation

Rcs::DSMassSpringDamperNonlinear::DSMassSpringDamperNonlinear	(	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)

Definition at line 337 of file DynamicalSystem.cpp.

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

virtual

Create a deep copy of this DynamicalSystem.

Definition at line 343 of file DynamicalSystem.cpp.

void Rcs::DSMassSpringDamperNonlinear::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

Definition at line 348 of file DynamicalSystem.cpp.

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