#include <OMComputedVelocity.h>

Inheritance diagram for Rcs::OMComputedVelocity:

Collaboration diagram for Rcs::OMComputedVelocity:

Public Member Functions
	OMComputedVelocity ()

virtual	~OMComputedVelocity ()

void	computeObservation (double state, double velocity, const MatNd *currentAction, double dt) const final

virtual void	reset ()

virtual void	computeState (double state, const MatNd currentAction, double dt) const =0

Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()

MatNd *	computeObservation (const MatNd *currentAction, double dt) const

void	computeObservation (MatNd observation, const MatNd currentAction, double dt) const

virtual unsigned int	getStateDim () const =0

virtual unsigned int	getVelocityDim () const

virtual void	getLimits (double minState, double maxState, double *maxVelocity) const

virtual std::vector< std::string >	getStateNames () const

virtual std::vector< std::string >	getVelocityNames () const

virtual void	getMinMax (double min, double max) const final

virtual unsigned int	getDim () const final

virtual std::vector< std::string >	getNames () const final

template<typename OM >
OM *	findModel ()

template<typename OM >
Offsets	findOffsets ()

virtual std::vector< ObservationModel * >	getNested () const

Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()

virtual	~BoxSpaceProvider ()

	BoxSpaceProvider (const BoxSpaceProvider &)=delete

BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete

	BoxSpaceProvider (BoxSpaceProvider &&)=delete

BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete

const BoxSpace *	getSpace () const

Private Attributes
MatNd *	lastState

Detailed Description

An observation model that computes the velocity using finite differences. Use this observation model if the velocity can not be or is not observed directly from the simulation.

Definition at line 43 of file OMComputedVelocity.h.

Constructor & Destructor Documentation

◆ OMComputedVelocity()

Rcs::OMComputedVelocity::OMComputedVelocity ( )

Definition at line 38 of file OMComputedVelocity.cpp.

◆ ~OMComputedVelocity()

Rcs::OMComputedVelocity::~OMComputedVelocity ( )

virtual

Definition at line 40 of file OMComputedVelocity.cpp.

Member Function Documentation

◆ computeObservation()

void Rcs::OMComputedVelocity::computeObservation	(	double *	state,
		double *	velocity,
		const MatNd *	currentAction,
		double	dt
	)		const

finalvirtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Implements Rcs::ObservationModel.

Definition at line 47 of file OMComputedVelocity.cpp.

◆ computeState()

virtual void Rcs::OMComputedVelocity::computeState	(	double *	state,
		const MatNd *	currentAction,
		double	dt
	)		const

pure virtual

Implement to fill the observation vector with the observed state values. The velocity will be computed automatically.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken. Will be 0 if called during reset().

◆ reset()

void Rcs::OMComputedVelocity::reset ( )

virtual

Overridden to initialize lastState. If a subclass wants to override this, make sure to call the base method. Since this method has to call computeState, make sure any relevant initialization is done before.

Reimplemented from Rcs::ObservationModel.

Definition at line 60 of file OMComputedVelocity.cpp.

Member Data Documentation

◆ lastState

MatNd* Rcs::OMComputedVelocity::lastState

private

Definition at line 70 of file OMComputedVelocity.h.

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

src/cpp/core/observation/OMComputedVelocity.h
src/cpp/core/observation/OMComputedVelocity.cpp

Public Member Functions

Private Attributes