Abstract class for a dynamical system. More...

#include <IDynamicalSystem.hpp>

Inheritance diagram for dynamical_systems::IDynamicalSystem< S >:

Public Member Functions
	IDynamicalSystem ()=default
	Empty constructor.

virtual bool	is_compatible (const S &state) const
	Check compatibility between a state and the dynamical system.

S	evaluate (const S &state) const
	Evaluate the value of the dynamical system at a given state.

S	get_base_frame () const
	Return the base frame of the dynamical system.

virtual void	set_base_frame (const S &base_frame)
	Set the base frame of the dynamical system.

Public Member Functions inherited from state_representation::ParameterMap
	ParameterMap ()=default
	Empty constructor.

	ParameterMap (const ParameterInterfaceList &parameters)
	Construct the parameter map with an initial list of parameters.

	ParameterMap (const ParameterInterfaceMap &parameters)
	Construct the parameter map with an initial map of parameters.

std::shared_ptr< ParameterInterface >	get_parameter (const std::string &name) const
	Get a parameter by its name.

ParameterInterfaceMap	get_parameters () const
	Get a map of all the <name, parameter> pairs.

template<typename T >
T	get_parameter_value (const std::string &name) const
	Get a parameter value by its name.

ParameterInterfaceList	get_parameter_list () const
	Get a list of all the parameters.

void	set_parameter (const std::shared_ptr< ParameterInterface > &parameter)
	Set a parameter.

void	set_parameters (const ParameterInterfaceList &parameters)
	Set parameters from a list of parameters.

void	set_parameters (const ParameterInterfaceMap &parameters)
	Set parameters from a map with <name, parameter> pairs.

template<typename T >
void	set_parameter_value (const std::string &name, const T &value)
	Set a parameter value by its name.

void	remove_parameter (const std::string &name)
	Remove a parameter from the parameter map.

Protected Member Functions
virtual S	compute_dynamics (const S &state) const =0
	Compute the dynamics of the input state. Internal function, to be redefined based on the type of dynamical system, called by the evaluate function.

Protected Member Functions inherited from state_representation::ParameterMap
virtual void	validate_and_set_parameter (const std::shared_ptr< ParameterInterface > &parameter)
	Validate and set a parameter in the map.

void	assert_parameter_valid (const std::shared_ptr< ParameterInterface > &parameter)
	Check if a parameter exists and has the expected type, throw an exception otherwise.

Additional Inherited Members
Protected Attributes inherited from state_representation::ParameterMap
ParameterInterfaceMap	parameters_
	map of parameters by name

Detailed Description

template<class S>
class dynamical_systems::IDynamicalSystem< S >

Abstract class for a dynamical system.

Template Parameters

S	Underlying state type of the dynamical system

Definition at line 21 of file IDynamicalSystem.hpp.

Member Function Documentation

◆ compute_dynamics()

template<class S >

virtual S dynamical_systems::IDynamicalSystem< S >::compute_dynamics ( const S & state ) const

protectedpure virtual

Compute the dynamics of the input state. Internal function, to be redefined based on the type of dynamical system, called by the evaluate function.

Parameters

state The input state

Returns: The output state

Implemented in dynamical_systems::DefaultDynamicalSystem< S >, dynamical_systems::PointAttractor< S >, dynamical_systems::Circular, and dynamical_systems::Ring.

◆ evaluate()

template<class S >

S IDynamicalSystem::evaluate ( const S & state ) const

Evaluate the value of the dynamical system at a given state.

Parameters

state State at which to perform the evaluation

Returns: The resulting state (velocity) of the dynamical system

Definition at line 31 of file IDynamicalSystem.cpp.

◆ get_base_frame()

template<class S >

S IDynamicalSystem::get_base_frame ( ) const

Return the base frame of the dynamical system.

Returns: The base frame

Definition at line 69 of file IDynamicalSystem.hpp.

◆ is_compatible()

template<class S >

bool IDynamicalSystem::is_compatible ( const S & state ) const

virtual

Check compatibility between a state and the dynamical system.

Parameters

state The state to check for compatibility

Returns: True if the state is compatible with the dynamical system

Reimplemented in dynamical_systems::PointAttractor< S >.

Definition at line 15 of file IDynamicalSystem.cpp.

◆ set_base_frame()

template<class S >

void IDynamicalSystem::set_base_frame ( const S & base_frame )

virtual

Set the base frame of the dynamical system.

Parameters

base_frame The new base frame

Reimplemented in dynamical_systems::PointAttractor< S >.

Definition at line 74 of file IDynamicalSystem.hpp.

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

/github/workspace/source/dynamical_systems/include/dynamical_systems/IDynamicalSystem.hpp
/github/workspace/source/dynamical_systems/src/IDynamicalSystem.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ compute_dynamics()

◆ evaluate()

◆ get_base_frame()

◆ is_compatible()

◆ set_base_frame()