Public Types | Public Member Functions | Protected Attributes | List of all members
DynamicModel< precision, stateSize, commandSize > Class Template Referenceabstract

#include <ddp-actuator-solver/dynamicmodel.hh>

Collaboration diagram for DynamicModel< precision, stateSize, commandSize >:
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Public Types

typedef Eigen::Matrix< precision, stateSize, 1 > stateVec_t
 
typedef Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
 
typedef Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
 
typedef Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
 
typedef Eigen::Matrix< precision, commandSize, 1 > commandVec_t
 
typedef Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
 
typedef Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
 
typedef Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
 
typedef Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
 
typedef Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
 
typedef Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
 
typedef Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
 
typedef Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
 
typedef Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
 
typedef Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
 
typedef Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
 

Public Member Functions

virtual stateVec_t computeNextState (double &dt, const stateVec_t &X, const commandVec_t &U)=0
 
virtual void computeModelDeriv (double &dt, const stateVec_t &X, const commandVec_t &U)=0
 
virtual stateMat_t computeTensorContxx (const stateVec_t &nextVx)=0
 
virtual commandMat_t computeTensorContuu (const stateVec_t &nextVx)=0
 
virtual commandR_stateC_t computeTensorContux (const stateVec_t &nextVx)=0
 
unsigned int getStateNb ()
 
unsigned int getCommandNb ()
 
commandVec_t & getLowerCommandBounds ()
 
commandVec_t & getUpperCommandBounds ()
 
stateMat_t & getfx ()
 
stateTens_t & getfxx ()
 
stateR_commandC_t & getfu ()
 
stateR_commandC_commandD_t & getfuu ()
 
stateR_stateC_commandD_t & getfxu ()
 
stateR_commandC_stateD_t & getfux ()
 

Protected Attributes

unsigned int stateNb
 
unsigned int commandNb
 
double dt
 
commandVec_t lowerCommandBounds
 
commandVec_t upperCommandBounds
 
stateMat_t fx
 
stateTens_t fxx
 
stateR_commandC_t fu
 
stateR_commandC_commandD_t fuu
 
stateR_stateC_commandD_t fxu
 
stateR_commandC_stateD_t fux
 

Member Typedef Documentation

◆ commandMat_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, commandSize> DynamicModel< precision, stateSize, commandSize >::commandMat_t

◆ commandR_commandC_stateD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, commandSize> DynamicModel< precision, stateSize, commandSize >::commandR_commandC_stateD_t[stateSize]

◆ commandR_stateC_commandD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, stateSize> DynamicModel< precision, stateSize, commandSize >::commandR_stateC_commandD_t[commandSize]

◆ commandR_stateC_stateD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, stateSize> DynamicModel< precision, stateSize, commandSize >::commandR_stateC_stateD_t[stateSize]

◆ commandR_stateC_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, stateSize> DynamicModel< precision, stateSize, commandSize >::commandR_stateC_t

◆ commandTens_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, commandSize> DynamicModel< precision, stateSize, commandSize >::commandTens_t[commandSize]

◆ commandVec_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, 1> DynamicModel< precision, stateSize, commandSize >::commandVec_t

◆ commandVecTrans_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, 1, commandSize> DynamicModel< precision, stateSize, commandSize >::commandVecTrans_t

◆ stateMat_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, stateSize> DynamicModel< precision, stateSize, commandSize >::stateMat_t

◆ stateR_commandC_commandD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, commandSize> DynamicModel< precision, stateSize, commandSize >::stateR_commandC_commandD_t[commandSize]

◆ stateR_commandC_stateD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, commandSize> DynamicModel< precision, stateSize, commandSize >::stateR_commandC_stateD_t[stateSize]

◆ stateR_commandC_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, commandSize> DynamicModel< precision, stateSize, commandSize >::stateR_commandC_t

◆ stateR_stateC_commandD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, stateSize> DynamicModel< precision, stateSize, commandSize >::stateR_stateC_commandD_t[commandSize]

◆ stateTens_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, stateSize> DynamicModel< precision, stateSize, commandSize >::stateTens_t[stateSize]

◆ stateVec_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, 1> DynamicModel< precision, stateSize, commandSize >::stateVec_t

◆ stateVecTrans_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, 1, stateSize> DynamicModel< precision, stateSize, commandSize >::stateVecTrans_t

Member Function Documentation

◆ computeModelDeriv()

template<typename precision , int stateSize, int commandSize>
virtual void DynamicModel< precision, stateSize, commandSize >::computeModelDeriv ( double &  dt,
const stateVec_t &  X,
const commandVec_t &  U 
)
pure virtual

◆ computeNextState()

template<typename precision , int stateSize, int commandSize>
virtual stateVec_t DynamicModel< precision, stateSize, commandSize >::computeNextState ( double &  dt,
const stateVec_t &  X,
const commandVec_t &  U 
)
pure virtual

◆ computeTensorContuu()

template<typename precision , int stateSize, int commandSize>
virtual commandMat_t DynamicModel< precision, stateSize, commandSize >::computeTensorContuu ( const stateVec_t &  nextVx)
pure virtual

◆ computeTensorContux()

template<typename precision , int stateSize, int commandSize>
virtual commandR_stateC_t DynamicModel< precision, stateSize, commandSize >::computeTensorContux ( const stateVec_t &  nextVx)
pure virtual

◆ computeTensorContxx()

template<typename precision , int stateSize, int commandSize>
virtual stateMat_t DynamicModel< precision, stateSize, commandSize >::computeTensorContxx ( const stateVec_t &  nextVx)
pure virtual

◆ getCommandNb()

template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::getCommandNb ( )
inline

◆ getfu()

template<typename precision , int stateSize, int commandSize>
stateR_commandC_t& DynamicModel< precision, stateSize, commandSize >::getfu ( )
inline

◆ getfuu()

template<typename precision , int stateSize, int commandSize>
stateR_commandC_commandD_t& DynamicModel< precision, stateSize, commandSize >::getfuu ( )
inline

◆ getfux()

template<typename precision , int stateSize, int commandSize>
stateR_commandC_stateD_t& DynamicModel< precision, stateSize, commandSize >::getfux ( )
inline

◆ getfx()

template<typename precision , int stateSize, int commandSize>
stateMat_t& DynamicModel< precision, stateSize, commandSize >::getfx ( )
inline

◆ getfxu()

template<typename precision , int stateSize, int commandSize>
stateR_stateC_commandD_t& DynamicModel< precision, stateSize, commandSize >::getfxu ( )
inline

◆ getfxx()

template<typename precision , int stateSize, int commandSize>
stateTens_t& DynamicModel< precision, stateSize, commandSize >::getfxx ( )
inline

◆ getLowerCommandBounds()

template<typename precision , int stateSize, int commandSize>
commandVec_t& DynamicModel< precision, stateSize, commandSize >::getLowerCommandBounds ( )
inline

◆ getStateNb()

template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::getStateNb ( )
inline

◆ getUpperCommandBounds()

template<typename precision , int stateSize, int commandSize>
commandVec_t& DynamicModel< precision, stateSize, commandSize >::getUpperCommandBounds ( )
inline

Member Data Documentation

◆ commandNb

template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::commandNb
protected

◆ dt

template<typename precision , int stateSize, int commandSize>
double DynamicModel< precision, stateSize, commandSize >::dt
protected

◆ fu

template<typename precision , int stateSize, int commandSize>
stateR_commandC_t DynamicModel< precision, stateSize, commandSize >::fu
protected

◆ fuu

template<typename precision , int stateSize, int commandSize>
stateR_commandC_commandD_t DynamicModel< precision, stateSize, commandSize >::fuu
protected

◆ fux

template<typename precision , int stateSize, int commandSize>
stateR_commandC_stateD_t DynamicModel< precision, stateSize, commandSize >::fux
protected

◆ fx

template<typename precision , int stateSize, int commandSize>
stateMat_t DynamicModel< precision, stateSize, commandSize >::fx
protected

◆ fxu

template<typename precision , int stateSize, int commandSize>
stateR_stateC_commandD_t DynamicModel< precision, stateSize, commandSize >::fxu
protected

◆ fxx

template<typename precision , int stateSize, int commandSize>
stateTens_t DynamicModel< precision, stateSize, commandSize >::fxx
protected

◆ lowerCommandBounds

template<typename precision , int stateSize, int commandSize>
commandVec_t DynamicModel< precision, stateSize, commandSize >::lowerCommandBounds
protected

◆ stateNb

template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::stateNb
protected

◆ upperCommandBounds

template<typename precision , int stateSize, int commandSize>
commandVec_t DynamicModel< precision, stateSize, commandSize >::upperCommandBounds
protected
The documentation for this class was generated from the following file: