dynamical_systems::PointAttractor< S > Class Template Reference

Represents a dynamical system to move towards an attractor. More...

#include <PointAttractor.hpp>

Inheritance diagram for dynamical_systems::PointAttractor< S >:

Public Member Functions
	PointAttractor ()
	Empty constructor.
	PointAttractor (const std::list< std::shared_ptr< state_representation::ParameterInterface > > &parameters)
	Constructor from an initial parameter list.
void	set_base_frame (const S &base_frame) override
	Set the base frame of the dynamical system.
S	compute_dynamics (const S &state) const override
	Compute the dynamics of the input state. Internal function, to be redefined based on the type of dynamical system, called by the evaluate function.
bool	is_compatible (const S &state) const override
	Check compatibility between a state and the dynamical system.
bool	is_compatible (const JointState &state) const
void	set_base_frame (const CartesianState &base_frame)
CartesianState	compute_dynamics (const CartesianState &state) const
JointState	compute_dynamics (const JointState &state) const
Public Member Functions inherited from dynamical_systems::IDynamicalSystem< S >
	IDynamicalSystem ()=default
	Empty constructor.
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.
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.

Additional Inherited Members
Protected Member Functions inherited from state_representation::ParameterMap
void	assert_parameter_valid (const std::shared_ptr< ParameterInterface > &parameter)
	Check if a parameter exists and has the expected type, throw an exception otherwise.
Protected Attributes inherited from state_representation::ParameterMap
ParameterInterfaceMap	parameters_
	map of parameters by name

Detailed Description

template<class S>
class dynamical_systems::PointAttractor< S >

Represents a dynamical system to move towards an attractor.

Template Parameters

S	Underlying state type of the dynamical system

Definition at line 14 of file PointAttractor.hpp.

Constructor & Destructor Documentation

PointAttractor() [1/3]

template<class S >

dynamical_systems::PointAttractor< S >::PointAttractor ( const std::list< std::shared_ptr< state_representation::ParameterInterface > > &  parameters )

explicit

Constructor from an initial parameter list.

Parameters

parameters

A parameter list containing initial attractor and gain values

Definition at line 65 of file PointAttractor.hpp.

PointAttractor() [2/3]

dynamical_systems::PointAttractor< CartesianState >::PointAttractor

(

)

Definition at line 19 of file PointAttractor.cpp.

PointAttractor() [3/3]

dynamical_systems::PointAttractor< JointState >::PointAttractor

(

)

Definition at line 27 of file PointAttractor.cpp.

Member Function Documentation

compute_dynamics() [1/3]

CartesianState dynamical_systems::PointAttractor< CartesianState >::compute_dynamics

(

const CartesianState &

state

)

const

Definition at line 180 of file PointAttractor.cpp.

compute_dynamics() [2/3]

JointState dynamical_systems::PointAttractor< JointState >::compute_dynamics

(

const JointState &

state

)

const

Definition at line 190 of file PointAttractor.cpp.

compute_dynamics() [3/3]

template<class S >

S dynamical_systems::PointAttractor< S >::compute_dynamics ( const S &  state ) const

overridevirtual

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

Implements dynamical_systems::IDynamicalSystem< S >.

Definition at line 175 of file PointAttractor.cpp.

is_compatible() [1/2]

bool dynamical_systems::PointAttractor< JointState >::is_compatible

(

const JointState &

state

)

const

Definition at line 42 of file PointAttractor.cpp.

is_compatible() [2/2]

template<class S >

template bool dynamical_systems::PointAttractor< S >::is_compatible ( const S &  state ) const

overridevirtual

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 from dynamical_systems::IDynamicalSystem< S >.

Definition at line 35 of file PointAttractor.cpp.

set_base_frame() [1/2]

void dynamical_systems::PointAttractor< CartesianState >::set_base_frame

(

const CartesianState &

base_frame

)

Definition at line 129 of file PointAttractor.cpp.

set_base_frame() [2/2]

template<class S >

template void dynamical_systems::PointAttractor< S >::set_base_frame ( const S &  base_frame )

overridevirtual

Set the base frame of the dynamical system.

Parameters

base_frame

The new base frame

Reimplemented from dynamical_systems::IDynamicalSystem< S >.

Definition at line 122 of file PointAttractor.cpp.

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

• /github/workspace/source/dynamical_systems/include/dynamical_systems/PointAttractor.hpp
• /github/workspace/source/dynamical_systems/src/PointAttractor.cpp