Rcs::DSSlice Class Reference

#include <DynamicalSystem.h>

Inheritance diagram for Rcs::DSSlice:

Collaboration diagram for Rcs::DSSlice:

Public Member Functions
	DSSlice (DynamicalSystem *wrapped, unsigned int offset, unsigned int length)
	~DSSlice ()
virtual DynamicalSystem *	clone () const
virtual void	step (Eigen::VectorXd &x_dot, const Eigen::VectorXd &x, double dt) const
virtual void	setGoal (const Eigen::VectorXd &x_des)
virtual Eigen::VectorXd	getGoal () const
virtual double	goalDistance (const Eigen::VectorXd &x_cur) const
DynamicalSystem *	getWrapped () const
Public Member Functions inherited from Rcs::DynamicalSystem
	DynamicalSystem ()=default
virtual	~DynamicalSystem ()=default
unsigned int	getStateDim () const

Private Attributes
DynamicalSystem *	wrapped
unsigned int	offset
unsigned int	length
Eigen::VectorXd	goal

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 dynamical system that only affects a slice of the state x.

Definition at line 250 of file DynamicalSystem.h.

Constructor & Destructor Documentation

DSSlice()

Rcs::DSSlice::DSSlice	(	DynamicalSystem *	wrapped,
		unsigned int	offset,
		unsigned int	length
	)

constructor

DSSlice

Definition at line 384 of file DynamicalSystem.cpp.

~DSSlice()

Rcs::DSSlice::~DSSlice

(

)

Definition at line 387 of file DynamicalSystem.cpp.

Member Function Documentation

clone()

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

virtual

Create a deep copy of this DynamicalSystem.

Returns

deep copy

Implements Rcs::DynamicalSystem.

Definition at line 393 of file DynamicalSystem.cpp.

getGoal()

Eigen::VectorXd Rcs::DSSlice::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 420 of file DynamicalSystem.cpp.

getWrapped()

DynamicalSystem * Rcs::DSSlice::getWrapped

(

)

const

Definition at line 430 of file DynamicalSystem.cpp.

goalDistance()

double Rcs::DSSlice::goalDistance ( const Eigen::VectorXd &  x_curr ) const

virtual

Compute the L2 norm between the current state and the goal state.

Parameters

[in]

x_curr

current system state

Returns

euclidean distance to goal

Reimplemented from Rcs::DynamicalSystem.

Definition at line 425 of file DynamicalSystem.cpp.

setGoal()

void Rcs::DSSlice::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 413 of file DynamicalSystem.cpp.

step()

void Rcs::DSSlice::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 398 of file DynamicalSystem.cpp.

Member Data Documentation

goal

Eigen::VectorXd Rcs::DSSlice::goal

private

Definition at line 256 of file DynamicalSystem.h.

length

unsigned int Rcs::DSSlice::length

private

Definition at line 255 of file DynamicalSystem.h.

offset

unsigned int Rcs::DSSlice::offset

private

Definition at line 254 of file DynamicalSystem.h.

wrapped

DynamicalSystem* Rcs::DSSlice::wrapped

private

Definition at line 253 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