KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
SpaceTimeIntegratedControlSpace Class Reference

Given an IntegratedControlSpace on a certain state space, this will produce a control space for the t-c state space that has time prepended to state. More...

#include <TimeCSpace.h>

Inheritance diagram for SpaceTimeIntegratedControlSpace:
IntegratedControlSpace ControlSpace

Public Member Functions

 SpaceTimeIntegratedControlSpace (const std::shared_ptr< IntegratedControlSpace > &base)
 
virtual std::string VariableName (int i)
 Returns an identifier for the i'th control variable.
 
virtual void Derivative (const State &x, const ControlInput &u, State &dx)
 Compute dx=x'=g(x,u)
 
virtual void UpdateIntegrationParameters (const State &x)
 Update controlSpace, dt, or dtmax if state-dependent.
 
- Public Member Functions inherited from IntegratedControlSpace
 IntegratedControlSpace (const std::shared_ptr< CSet > &fControlSet, Real dt=0.01, Real dtmax=0.1)
 
 IntegratedControlSpace (DynamicsFn f, const std::shared_ptr< CSet > &fControlSet, Real dt=0.01, Real dtmax=0.1)
 
void SetGeodesicSpace (GeodesicSpace *space)
 
void SetBaseControlSet (std::shared_ptr< CSet > baseControlSet)
 
std::shared_ptr< CSetGetBaseControlSet ()
 
virtual InterpolatorPtr Simulate (const State &x0, const ControlInput &u)
 
virtual std::shared_ptr< CSetGetControlSet (const Config &x)
 
- Public Member Functions inherited from ControlSpace
virtual std::shared_ptr< CSetGetControlSet (const State &x)
 
virtual std::shared_ptr< SteeringFunctionGetSteeringFunction ()
 Returns this space's steering function, if available.
 
virtual void Successor (const State &x0, const ControlInput &u, State &x1)
 
virtual Math::VectorFieldFunctionSuccessorNumeric ()
 
virtual void SampleControl (const State &x, ControlInput &u)
 
virtual bool IsValidControl (const State &x, const ControlInput &u)
 

Public Attributes

std::shared_ptr< IntegratedControlSpacebase
 
- Public Attributes inherited from IntegratedControlSpace
DynamicsFn myDynamics
 
Integrator type
 
GeodesicSpacespace
 
std::shared_ptr< CSetcontrolSet
 
Real dt
 integration time step
 
Real dtmax
 maximum dt chosen in controls
 
- Public Attributes inherited from ControlSpace
std::shared_ptr< CSetmyControlSet
 Dynamically overridable default control set (Note: state independent)
 
std::shared_ptr< SteeringFunctionmySteeringFunction
 Dynamically overridable default steering function.
 

Additional Inherited Members

- Public Types inherited from IntegratedControlSpace
enum  Integrator { Euler, RK4 }
 
typedef void(* DynamicsFn) (const State &x, const ControlInput &u, State &dx)
 

Detailed Description

Given an IntegratedControlSpace on a certain state space, this will produce a control space for the t-c state space that has time prepended to state.


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