Solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound. This class wraps around the error stepper concept from boost::numeric::odeint. More...
#include <ompl/control/ODESolver.h>
Public Member Functions | |
| ODEErrorSolver (const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep=1e-2) | |
| Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and the integration step size - default is 0.01. | |
| ODESolver::StateType | getError () |
| Retrieves the error values from the most recent integration. | |
 Public Member Functions inherited from ompl::control::ODESolver | |
| ODESolver (SpaceInformationPtr si, ODE ode, double intStep) | |
| Parameterized constructor. Takes a reference to SpaceInformation, an ODE to solve, and the integration step size. | |
| virtual | ~ODESolver ()=default |
| Destructor. | |
| void | setODE (const ODE &ode) |
| Set the ODE to solve. | |
| double | getIntegrationStepSize () const |
| Return the size of a single numerical integration step. | |
| void | setIntegrationStepSize (double intStep) |
| Set the size of a single numerical integration step. | |
| const SpaceInformationPtr & | getSpaceInformation () const |
| Get the current instance of the space information. | |
Protected Member Functions | |
| void | solve (StateType &state, const Control *control, double duration) const override |
| Solve the ODE using boost::numeric::odeint. Save the resulting error values into error_. | |
Protected Attributes | |
| ODESolver::StateType | error_ |
| The error values calculated during numerical integration. | |
| Protected Attributes inherited from ompl::control::ODESolver | |
| const SpaceInformationPtr | si_ |
| The SpaceInformation that this ODESolver operates in. | |
| ODE | ode_ |
| Definition of the ODE to find solutions for. | |
| double | intStep_ |
| The size of the numerical integration step. Should be small to minimize error. | |
Additional Inherited Members | |
| Public Types inherited from ompl::control::ODESolver | |
| using | StateType = std::vector< double > |
| Portable data type for the state values. | |
| using | ODE = std::function< void(const StateType &, const Control *, StateType &)> |
| Callback function that defines the ODE. Accepts the current state, input control, and output state. | |
| using | PostPropagationEvent = std::function< void(const base::State *, const Control *, double, base::State *)> |
| Callback function to perform an event at the end of numerical integration. This functionality is optional. | |
| Static Public Member Functions inherited from ompl::control::ODESolver | |
| static StatePropagatorPtr | getStatePropagator (ODESolverPtr solver, const PostPropagationEvent &postEvent=nullptr) |
| Retrieve a StatePropagator object that solves a system of ordinary differential equations defined by an ODESolver. An optional PostPropagationEvent can also be specified as a callback after numerical integration is finished for further operations on the resulting state. | |
Detailed Description
template<class Solver = odeint::runge_kutta_cash_karp54<ODESolver::StateType>>
class ompl::control::ODEErrorSolver< Solver >
Solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound. This class wraps around the error stepper concept from boost::numeric::odeint.
Definition at line 290 of file ODESolver.h.
The documentation for this class was generated from the following file:
- ompl/control/ODESolver.h