Base class for deriving motion models. Motion models describe the dynamics or kinematics of a rigid body. More...

#include <motion_model_base.h>

Inheritance diagram for bitrl::dynamics::MotionModelDynamicsBase< StateTp, MatrixDescriptor, InputTp >:

Collaboration diagram for bitrl::dynamics::MotionModelDynamicsBase< StateTp, MatrixDescriptor, InputTp >:

Public Types
typedef StateTp	state_type

typedef state_type	output_type

typedef InputTp	input_type

typedef MatrixDescriptor	matrix_descriptor_type

typedef matrix_descriptor_type::matrix_type	matrix_type

typedef matrix_descriptor_type::vector_type	vector_type

Public Member Functions
virtual	~MotionModelDynamicsBase ()=default
	Destructor.

virtual state_type &	evaluate (const input_type &input)=0
	Updates and returns the value of the state given the input.

const state_type &	get_state () const
	Read access to the state.

state_type &	get_state ()
	Read/write access to the state.

std::vector< std::string_view >	get_state_variables_names () const
	get_state_variables_names. Returns the name of the variables in the state

matrix_type &	get_matrix (const std::string &name)

const matrix_type &	get_matrix (const std::string &name) const

void	set_matrix (const std::string &name, const matrix_type &mat)

vector_type &	get_vector (const std::string &name)

const vector_type &	get_vector (const std::string &name) const

void	set_vector (const std::string &name, const vector_type &vec)

void	set_matrix_update_flag (bool f)
	set the matrix update flag

bool	allows_matrix_updates () const
	Set the flag for updating or not the matrices describing the model.

bool	has_matrix (const std::string &name) const
	Returns true if the matrix with the given name already exists.

real_t	get_state_property (const std::string &name) const
	Returns the state property with the given name.

void	set_state_property (const std::string &name, real_t value)
	Set the name-th value of the state.

void	set_state_name_value (uint_t i, const std::string &name, real_t val)
	Set the state names.

void	set_state_name_value (uint_t i, const std::pair< std::string, real_t > &val)
	Set the state names.

void	set_time_step (real_t dt)
	Set the time step.

real_t	get_time_step () const
	get_time_step Returns the sampling time the dynamics model is using

real_t	get_tolerance () const
	get_tolerance Returns the general tolerance used in the calculations

void	set_tolerance (real_t tol)
	set_tolerance Set the general tolerance used in the calculations. Default is KernelConsts::tolerance()

Static Public Attributes
static const uint_t	state_dimension = StateTp::dimension
	The dimension of the state.

Protected Member Functions
	MotionModelDynamicsBase (bool update_description_matrices_on_evaluate=true)
	Constructor.

	MotionModelDynamicsBase (const state_type &init_state, bool update_description_matrices_on_evaluate=true)
	Constructor.

Protected Attributes
state_type	state_
	The object describing the state of the object of which its dynamics are described/modeled by this MotionModel.

matrix_descriptor_type	matrix_description_
	matrix descriptor

bool	update_description_matrices_on_evaluate_
	flag indicating the update of the matrices the model is using to describe itself

real_t	dt_
	The time step the integrator uses.

real_t	tol_
	tolerance

Detailed Description

template<typename StateTp, typename MatrixDescriptor, typename InputTp>
class bitrl::dynamics::MotionModelDynamicsBase< StateTp, MatrixDescriptor, InputTp >

Base class for deriving motion models. Motion models describe the dynamics or kinematics of a rigid body.