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. More...

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

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. More...

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

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.

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

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

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

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

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. More...

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

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

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

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

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

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

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

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

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

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

Additional Inherited Members
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. More...

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. More...

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

Protected Attributes inherited from state_representation::ParameterMap
ParameterInterfaceMap	parameters_
	map of parameters by name More...

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 20 of file PointAttractor.cpp.

◆ PointAttractor() [3/3]

dynamical_systems::PointAttractor< JointState >::PointAttractor ( )

Definition at line 28 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 181 of file PointAttractor.cpp.

◆ compute_dynamics() [2/3]

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

Definition at line 191 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 176 of file PointAttractor.cpp.

◆ is_compatible() [1/2]

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

Definition at line 43 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 36 of file PointAttractor.cpp.

◆ set_base_frame() [1/2]

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

Definition at line 130 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 123 of file PointAttractor.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PointAttractor() [1/3]

◆ PointAttractor() [2/3]

◆ PointAttractor() [3/3]

Member Function Documentation

◆ compute_dynamics() [1/3]

◆ compute_dynamics() [2/3]

◆ compute_dynamics() [3/3]

◆ is_compatible() [1/2]

◆ is_compatible() [2/2]

◆ set_base_frame() [1/2]

◆ set_base_frame() [2/2]