Rcs::DynamicalSystem Class Reference

#include <DynamicalSystem.h>

Inheritance diagram for Rcs::DynamicalSystem:

Public Member Functions
	DynamicalSystem ()=default
virtual	~DynamicalSystem ()=default
virtual DynamicalSystem *	clone () const =0
virtual void	step (Eigen::VectorXd &x_dot, const Eigen::VectorXd &x, double dt) 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

Static Public Member Functions
static DynamicalSystem *	create (PropertySource *properties, unsigned int innerTaskDim)

Public Attributes
Eigen::VectorXd	x_dot_des

Detailed Description

Base class of all Dynamical Systems (DS)

Definition at line 48 of file DynamicalSystem.h.

Constructor & Destructor Documentation

DynamicalSystem()

Rcs::DynamicalSystem::DynamicalSystem ( )

default

~DynamicalSystem()

virtual Rcs::DynamicalSystem::~DynamicalSystem ( )

virtualdefault

Member Function Documentation

clone()

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

pure virtual

Create a deep copy of this DynamicalSystem.

Returns

deep copy

Implemented in Rcs::DSSlice, Rcs::DSMassSpringDamperNonlinear, Rcs::DSMassSpringDamper, Rcs::DSLinear, and Rcs::DSConst.

create()

DynamicalSystem * Rcs::DynamicalSystem::create ( PropertySource *  properties, unsigned int  innerTaskDim  )

static

Definition at line 114 of file DynamicalSystem.cpp.

getGoal()

virtual Eigen::VectorXd Rcs::DynamicalSystem::getGoal ( ) const

pure virtual

Get the goal state for this dynamical system.

Returns

x_des desired state for the system to pursue

Implemented in Rcs::DSSlice, Rcs::DSMassSpringDamper, Rcs::DSLinear, and Rcs::DSConst.

getStateDim()

unsigned int Rcs::DynamicalSystem::getStateDim

(

)

const

Definition at line 193 of file DynamicalSystem.cpp.

goalDistance()

double Rcs::DynamicalSystem::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 in Rcs::DSSlice.

Definition at line 188 of file DynamicalSystem.cpp.

setGoal()

virtual void Rcs::DynamicalSystem::setGoal ( const Eigen::VectorXd &  x_des )

pure 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

Implemented in Rcs::DSSlice, Rcs::DSMassSpringDamper, Rcs::DSLinear, and Rcs::DSConst.

step()

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

pure 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

Implemented in Rcs::DSSlice, Rcs::DSLinear, Rcs::DSConst, and Rcs::DSSecondOrder.

Member Data Documentation

x_dot_des

Eigen::VectorXd Rcs::DynamicalSystem::x_dot_des

The desired task space velocity of the DS, which is equal to x_dot coming from step(). The robot will most likely not execute the commaded x_dot (e.g. due to the IK or other active DS). We store the desired task space velocity of the DS for potential using it in AMDynamicalSystemActivation or debugging.

Definition at line 100 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