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ompl::control::ODEBasicSolver< Solver > Class Template Reference

Basic 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 fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint. More...

#include <ompl/control/ODESolver.h>

Inheritance diagram for ompl::control::ODEBasicSolver< Solver >:

Public Member Functions

 ODEBasicSolver (const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep=1e-2)
 Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and an optional integration step size - default is 0.01.
 
- 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 SpaceInformationPtrgetSpaceInformation () 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.
 

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
 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.
 
- 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.
 

Detailed Description

template<class Solver = odeint::runge_kutta4<ODESolver::StateType>>
class ompl::control::ODEBasicSolver< Solver >

Basic 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 fourth order Runge-Kutta method. This class wraps around the simple stepper concept from boost::numeric::odeint.

Definition at line 199 of file ODESolver.h.

Constructor & Destructor Documentation

◆ ODEBasicSolver()

template<class Solver = odeint::runge_kutta4<ODESolver::StateType>>
ompl::control::ODEBasicSolver< Solver >::ODEBasicSolver ( const SpaceInformationPtr & si,
const ODESolver::ODE & ode,
double intStep = 1e-2 )
inline

Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and an optional integration step size - default is 0.01.

Definition at line 204 of file ODESolver.h.

Member Function Documentation

◆ solve()

template<class Solver = odeint::runge_kutta4<ODESolver::StateType>>
void ompl::control::ODEBasicSolver< Solver >::solve ( StateType & state,
const Control * control,
double duration ) const
inlineoverrideprotectedvirtual

Solve the ODE using boost::numeric::odeint.

Implements ompl::control::ODESolver.

Definition at line 211 of file ODESolver.h.


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