KrisLibrary
1.0.0
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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>
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< CSet > | GetBaseControlSet () |
virtual InterpolatorPtr | Simulate (const State &x0, const ControlInput &u) |
virtual std::shared_ptr< CSet > | GetControlSet (const Config &x) |
Public Member Functions inherited from ControlSpace | |
virtual std::shared_ptr< CSet > | GetControlSet (const State &x) |
virtual std::shared_ptr< SteeringFunction > | GetSteeringFunction () |
Returns this space's steering function, if available. | |
virtual void | Successor (const State &x0, const ControlInput &u, State &x1) |
virtual Math::VectorFieldFunction * | SuccessorNumeric () |
virtual void | SampleControl (const State &x, ControlInput &u) |
virtual bool | IsValidControl (const State &x, const ControlInput &u) |
Public Attributes | |
std::shared_ptr< IntegratedControlSpace > | base |
Public Attributes inherited from IntegratedControlSpace | |
DynamicsFn | myDynamics |
Integrator | type |
GeodesicSpace * | space |
std::shared_ptr< CSet > | controlSet |
Real | dt |
integration time step | |
Real | dtmax |
maximum dt chosen in controls | |
Public Attributes inherited from ControlSpace | |
std::shared_ptr< CSet > | myControlSet |
Dynamically overridable default control set (Note: state independent) | |
std::shared_ptr< SteeringFunction > | mySteeringFunction |
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) |
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.