Inheritance diagram for Rcs::DSSecondOrder:

Collaboration diagram for Rcs::DSSecondOrder:

Public Member Functions
virtual void	step (Eigen::VectorXd &x_dot, const Eigen::VectorXd &x, double dt) const

virtual void	step (Eigen::VectorXd &x_ddot, const Eigen::VectorXd &x_dot, const Eigen::VectorXd &x, double dt) const =0

Public Member Functions inherited from Rcs::DynamicalSystem
	DynamicalSystem ()=default

virtual	~DynamicalSystem ()=default

virtual DynamicalSystem *	clone () const =0

virtual Eigen::VectorXd	getGoal () const =0

virtual void	setGoal (const Eigen::VectorXd &x_des)=0

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

Detailed Description

A second-order dynamical system generates desired acceleration values. The acceleration is integrated to output desired velocities.

Definition at line 107 of file DynamicalSystem.h.

Member Function Documentation

virtual

DS2ndOrder

Definition at line 202 of file DynamicalSystem.cpp.

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

pure 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

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