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DynamicModel< precision, stateSize, commandSize > Class Template Referenceabstract

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

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_tgetLowerCommandBounds ()
 
commandVec_tgetUpperCommandBounds ()
 
stateMat_tgetfx ()
 
stateTens_tgetfxx ()
 
stateR_commandC_tgetfu ()
 
stateR_commandC_commandD_tgetfuu ()
 
stateR_stateC_commandD_tgetfxu ()
 
stateR_commandC_stateD_tgetfux ()
 

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

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

Member Function Documentation

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
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
template<typename precision , int stateSize, int commandSize>
virtual commandMat_t DynamicModel< precision, stateSize, commandSize >::computeTensorContuu ( const stateVec_t nextVx)
pure virtual
template<typename precision , int stateSize, int commandSize>
virtual commandR_stateC_t DynamicModel< precision, stateSize, commandSize >::computeTensorContux ( const stateVec_t nextVx)
pure virtual
template<typename precision , int stateSize, int commandSize>
virtual stateMat_t DynamicModel< precision, stateSize, commandSize >::computeTensorContxx ( const stateVec_t nextVx)
pure virtual
template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::getCommandNb ( )
inline
template<typename precision , int stateSize, int commandSize>
stateR_commandC_t& DynamicModel< precision, stateSize, commandSize >::getfu ( )
inline
template<typename precision , int stateSize, int commandSize>
stateR_commandC_commandD_t& DynamicModel< precision, stateSize, commandSize >::getfuu ( )
inline
template<typename precision , int stateSize, int commandSize>
stateR_commandC_stateD_t& DynamicModel< precision, stateSize, commandSize >::getfux ( )
inline
template<typename precision , int stateSize, int commandSize>
stateMat_t& DynamicModel< precision, stateSize, commandSize >::getfx ( )
inline
template<typename precision , int stateSize, int commandSize>
stateR_stateC_commandD_t& DynamicModel< precision, stateSize, commandSize >::getfxu ( )
inline
template<typename precision , int stateSize, int commandSize>
stateTens_t& DynamicModel< precision, stateSize, commandSize >::getfxx ( )
inline
template<typename precision , int stateSize, int commandSize>
commandVec_t& DynamicModel< precision, stateSize, commandSize >::getLowerCommandBounds ( )
inline
template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::getStateNb ( )
inline
template<typename precision , int stateSize, int commandSize>
commandVec_t& DynamicModel< precision, stateSize, commandSize >::getUpperCommandBounds ( )
inline

Member Data Documentation

template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::commandNb
protected
template<typename precision , int stateSize, int commandSize>
double DynamicModel< precision, stateSize, commandSize >::dt
protected
template<typename precision , int stateSize, int commandSize>
stateR_commandC_t DynamicModel< precision, stateSize, commandSize >::fu
protected
template<typename precision , int stateSize, int commandSize>
stateR_commandC_commandD_t DynamicModel< precision, stateSize, commandSize >::fuu
protected
template<typename precision , int stateSize, int commandSize>
stateR_commandC_stateD_t DynamicModel< precision, stateSize, commandSize >::fux
protected
template<typename precision , int stateSize, int commandSize>
stateMat_t DynamicModel< precision, stateSize, commandSize >::fx
protected
template<typename precision , int stateSize, int commandSize>
stateR_stateC_commandD_t DynamicModel< precision, stateSize, commandSize >::fxu
protected
template<typename precision , int stateSize, int commandSize>
stateTens_t DynamicModel< precision, stateSize, commandSize >::fxx
protected
template<typename precision , int stateSize, int commandSize>
commandVec_t DynamicModel< precision, stateSize, commandSize >::lowerCommandBounds
protected
template<typename precision , int stateSize, int commandSize>
unsigned int DynamicModel< precision, stateSize, commandSize >::stateNb
protected
template<typename precision , int stateSize, int commandSize>
commandVec_t DynamicModel< precision, stateSize, commandSize >::upperCommandBounds
protected