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| <div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="preprocessor">#pragma once</span></div> | ||
| <div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span> </div> | ||
| <div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="preprocessor">#include "dynamical_systems/IDynamicalSystem.hpp"</span></div> | ||
| <div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="preprocessor">#include "state_representation/geometry/Ellipsoid.hpp"</span></div> | ||
| <div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="preprocessor">#include "state_representation/parameters/Parameter.hpp"</span></div> | ||
| <div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span> </div> | ||
| <div class="foldopen" id="foldopen00007" data-start="{" data-end="}"> | ||
| <div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="namespacedynamical__systems.html"> 7</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacedynamical__systems.html">dynamical_systems</a> {</div> | ||
| <div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span> </div> | ||
| <div class="foldopen" id="foldopen00013" data-start="{" data-end="};"> | ||
| <div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classdynamical__systems_1_1_circular.html"> 13</a></span><span class="keyword">class </span><a class="code hl_class" href="classdynamical__systems_1_1_circular.html">Circular</a> : <span class="keyword">public</span> <a class="code hl_class" href="classdynamical__systems_1_1_i_dynamical_system.html">IDynamicalSystem</a><state_representation::CartesianState> {</div> | ||
| <div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="keyword">public</span>:</div> | ||
| <div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span> <a class="code hl_function" href="classdynamical__systems_1_1_circular.html#aa6f0879ef85ec83a45465b48b733459d">Circular</a>();</div> | ||
| <div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span> </div> | ||
| <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">explicit</span> <a class="code hl_function" href="classdynamical__systems_1_1_circular.html#aa6f0879ef85ec83a45465b48b733459d">Circular</a>(<span class="keyword">const</span> std::list<std::shared_ptr<state_representation::ParameterInterface>>& parameters);</div> | ||
| <div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span> </div> | ||
| <div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classdynamical__systems_1_1_circular.html#a022f7cb771e266a1964db7b8bcf16210">set_base_frame</a>(<span class="keyword">const</span> <a class="code hl_class" href="classstate__representation_1_1_cartesian_state.html">state_representation::CartesianState</a>& base_frame) <span class="keyword">override</span>;</div> | ||
| <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div> | ||
| <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> [[nodiscard]] <a class="code hl_class" href="classstate__representation_1_1_cartesian_state.html">state_representation::CartesianState</a></div> | ||
| <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> <a class="code hl_function" href="classdynamical__systems_1_1_circular.html#a6918d883a7b2af982c564e8e6104f100">compute_dynamics</a>(<span class="keyword">const</span> <a class="code hl_class" href="classstate__representation_1_1_cartesian_state.html">state_representation::CartesianState</a>& state) <span class="keyword">const override</span>;</div> | ||
| <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div> | ||
| <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">private</span>:</div> | ||
| <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keywordtype">void</span> validate_and_set_parameter(<span class="keyword">const</span> std::shared_ptr<state_representation::ParameterInterface>& parameter) <span class="keyword">override</span>;</div> | ||
| <div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div> | ||
| <div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keywordtype">void</span> set_limit_cycle(<a class="code hl_class" href="classstate__representation_1_1_ellipsoid.html">state_representation::Ellipsoid</a>& limit_cycle);</div> | ||
| <div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div> | ||
| <div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> std::shared_ptr<state_representation::Parameter<state_representation::Ellipsoid>></div> | ||
| <div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> limit_cycle_;</div> | ||
| <div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> std::shared_ptr<state_representation::Parameter<double>></div> | ||
| <div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> planar_gain_;</div> | ||
| <div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> std::shared_ptr<state_representation::Parameter<double>></div> | ||
| <div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> normal_gain_;</div> | ||
| <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> std::shared_ptr<state_representation::Parameter<double>></div> | ||
| <div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> circular_velocity_;</div> | ||
| <div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>};</div> | ||
| </div> | ||
| <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span>}<span class="comment">// namespace dynamical_systems</span></div> | ||
| </div> | ||
| <div class="ttc" id="aclassdynamical__systems_1_1_circular_html"><div class="ttname"><a href="classdynamical__systems_1_1_circular.html">dynamical_systems::Circular</a></div><div class="ttdoc">Represent a Circular dynamical system to move around an center.</div><div class="ttdef"><b>Definition</b> <a href="_circular_8hpp_source.html#l00013">Circular.hpp:13</a></div></div> | ||
| <div class="ttc" id="aclassdynamical__systems_1_1_circular_html_a022f7cb771e266a1964db7b8bcf16210"><div class="ttname"><a href="classdynamical__systems_1_1_circular.html#a022f7cb771e266a1964db7b8bcf16210">dynamical_systems::Circular::set_base_frame</a></div><div class="ttdeci">void set_base_frame(const state_representation::CartesianState &base_frame) override</div><div class="ttdoc">Set a parameter.</div><div class="ttdef"><b>Definition</b> <a href="_circular_8cpp_source.html#l00051">Circular.cpp:51</a></div></div> | ||
| <div class="ttc" id="aclassdynamical__systems_1_1_circular_html_a6918d883a7b2af982c564e8e6104f100"><div class="ttname"><a href="classdynamical__systems_1_1_circular.html#a6918d883a7b2af982c564e8e6104f100">dynamical_systems::Circular::compute_dynamics</a></div><div class="ttdeci">state_representation::CartesianState compute_dynamics(const state_representation::CartesianState &state) const override</div><div class="ttdoc">Compute the dynamics of the input state. Internal function, to be redefined based on the type of dyna...</div><div class="ttdef"><b>Definition</b> <a href="_circular_8cpp_source.html#l00084">Circular.cpp:84</a></div></div> | ||
| <div class="ttc" id="aclassdynamical__systems_1_1_circular_html_aa6f0879ef85ec83a45465b48b733459d"><div class="ttname"><a href="classdynamical__systems_1_1_circular.html#aa6f0879ef85ec83a45465b48b733459d">dynamical_systems::Circular::Circular</a></div><div class="ttdeci">Circular()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition</b> <a href="_circular_8cpp_source.html#l00012">Circular.cpp:12</a></div></div> | ||
| <div class="ttc" id="aclassdynamical__systems_1_1_i_dynamical_system_html"><div class="ttname"><a href="classdynamical__systems_1_1_i_dynamical_system.html">dynamical_systems::IDynamicalSystem</a></div><div class="ttdoc">Abstract class for a dynamical system.</div><div class="ttdef"><b>Definition</b> <a href="_i_dynamical_system_8hpp_source.html#l00021">IDynamicalSystem.hpp:21</a></div></div> | ||
| <div class="ttc" id="aclassstate__representation_1_1_cartesian_state_html"><div class="ttname"><a href="classstate__representation_1_1_cartesian_state.html">state_representation::CartesianState</a></div><div class="ttdoc">Class to represent a state in Cartesian space.</div><div class="ttdef"><b>Definition</b> <a href="_cartesian_state_8hpp_source.html#l00048">CartesianState.hpp:48</a></div></div> | ||
| <div class="ttc" id="aclassstate__representation_1_1_ellipsoid_html"><div class="ttname"><a href="classstate__representation_1_1_ellipsoid.html">state_representation::Ellipsoid</a></div><div class="ttdef"><b>Definition</b> <a href="_ellipsoid_8hpp_source.html#l00012">Ellipsoid.hpp:12</a></div></div> | ||
| <div class="ttc" id="anamespacedynamical__systems_html"><div class="ttname"><a href="namespacedynamical__systems.html">dynamical_systems</a></div><div class="ttdoc">Systems of equations relating state variables to their derivatives.</div><div class="ttdef"><b>Definition</b> <a href="_circular_8hpp_source.html#l00007">Circular.hpp:7</a></div></div> | ||
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