codac::CtcDeriv Class Reference

\(\mathcal{C}_{\frac{d}{dt}}\) that contracts a tube \([x](\cdot)\) with respect to its derivative tube \([v](\cdot)\) according to the constraint \(\dot{x}(\cdot)=v(\cdot)\) More...

#include <codac_CtcDeriv.h>

Inheritance diagram for codac::CtcDeriv:

Collaboration diagram for codac::CtcDeriv:

Public Member Functions
	CtcDeriv ()
	Creates a contractor object \(\mathcal{C}_{\frac{d}{dt}}\).
void	contract (Tube &x, const Tube &v, TimePropag t_propa=TimePropag::FORWARD|TimePropag::BACKWARD)
	\(\mathcal{C}_{\frac{d}{dt}}\big([x](\cdot),[v](\cdot)\big)\): contracts the tube \([x](\cdot)\) with respect to its derivative \([v](\cdot)\). More...
void	contract (TubeVector &x, const TubeVector &v, TimePropag t_propa=TimePropag::FORWARD|TimePropag::BACKWARD)
	\(\mathcal{C}_{\frac{d}{dt}}\big([\mathbf{x}](\cdot),[\mathbf{v}](\cdot)\big)\): contracts the tube \([\mathbf{x}](\cdot)\) with respect to its derivative \([\mathbf{v}](\cdot)\). More...
void	contract (Slice &x, const Slice &v, TimePropag t_propa=TimePropag::FORWARD|TimePropag::BACKWARD)
	\(\mathcal{C}_{\frac{d}{dt}}\big(\llbracket x\rrbracket(\cdot),\llbracket v\rrbracket(\cdot)\big)\): contracts the slice \(\llbracket x\rrbracket(\cdot)\) with respect to its derivative \(\llbracket v\rrbracket(\cdot)\). More...
Public Member Functions inherited from codac::DynCtc
	DynCtc (bool intertemporal=true)
	Creates a contractor. More...
virtual	~DynCtc ()
	DynCtc destructor.
void	preserve_slicing (bool preserve=true)
	Specifies whether the contractor can impact the tube's slicing or not. More...
void	set_fast_mode (bool fast_mode=true)
	Specifies an optional fast mode of contraction. More...
void	restrict_tdomain (const Interval &tdomain)
	Limits the temporal domain of contractions. More...
bool	is_intertemporal () const
	Tests if the related constraint is inter-temporal or not. More...

Protected Member Functions
void	contract_gates (Slice &x, const Slice &v)
	Contracts input and output gates of a slice regarding its derivative set. More...

Static Protected Attributes
static const std::string	m_ctc_name
	class name (mainly used for CN Exceptions)
static std::vector< std::string >	m_str_expected_doms
	allowed domains signatures (mainly used for CN Exceptions)

Additional Inherited Members
Protected Attributes inherited from codac::DynCtc
bool	m_preserve_slicing = true
	if true, tube's slicing will not be affected by the contractor
bool	m_fast_mode = false
	some contractors may propose more pessimistic but faster execution modes
Interval	m_restricted_tdomain
	limits the contractions to the specified temporal domain
const bool	m_intertemporal = true
	defines if the related constraint is inter-temporal or not (true by default)

Detailed Description

\(\mathcal{C}_{\frac{d}{dt}}\) that contracts a tube \([x](\cdot)\) with respect to its derivative tube \([v](\cdot)\) according to the constraint \(\dot{x}(\cdot)=v(\cdot)\)

Note

This contractor is called \(\mathcal{C}_{\frac{d}{dt}}\) in the literature.

Todo:

Contract the tube \([v](\cdot)\) if \([x](\cdot)\) degenerated?

Member Function Documentation

contract() [1/3]

void codac::CtcDeriv::contract	(	Tube &	x,
		const Tube &	v,
		TimePropag	t_propa = TimePropag::FORWARD|TimePropag::BACKWARD
	)

\(\mathcal{C}_{\frac{d}{dt}}\big([x](\cdot),[v](\cdot)\big)\): contracts the tube \([x](\cdot)\) with respect to its derivative \([v](\cdot)\).

Precondition

\([x](\cdot)\) and \([v](\cdot)\) must share the same slicing and tdomain.

Parameters

x	the scalar tube \([x](\cdot)\)
v	the scalar derivative tube \([v](\cdot)\)
t_propa	an optional temporal way of propagation (forward or backward in time, both ways by default)

contract() [2/3]

void codac::CtcDeriv::contract	(	TubeVector &	x,
		const TubeVector &	v,
		TimePropag	t_propa = TimePropag::FORWARD|TimePropag::BACKWARD
	)

\(\mathcal{C}_{\frac{d}{dt}}\big([\mathbf{x}](\cdot),[\mathbf{v}](\cdot)\big)\): contracts the tube \([\mathbf{x}](\cdot)\) with respect to its derivative \([\mathbf{v}](\cdot)\).

Precondition

\([\mathbf{x}](\cdot)\) and \([\mathbf{v}](\cdot)\) must share the same dimension, slicing and tdomain.

Parameters

x	the n-dimensional tube \([\mathbf{x}](\cdot)\)
v	the n-dimensional derivative tube \([\mathbf{v}](\cdot)\)
t_propa	an optional temporal way of propagation (forward or backward in time, both ways by default)

contract() [3/3]

void codac::CtcDeriv::contract	(	Slice &	x,
		const Slice &	v,
		TimePropag	t_propa = TimePropag::FORWARD|TimePropag::BACKWARD
	)

\(\mathcal{C}_{\frac{d}{dt}}\big(\llbracket x\rrbracket(\cdot),\llbracket v\rrbracket(\cdot)\big)\): contracts the slice \(\llbracket x\rrbracket(\cdot)\) with respect to its derivative \(\llbracket v\rrbracket(\cdot)\).

Precondition

\(\llbracket x\rrbracket(\cdot)\) and \(\llbracket v\rrbracket(\cdot)\) must share the same tdomain.

Parameters

x	the slice \(\llbracket x\rrbracket(\cdot)\)
v	the derivative slice \(\llbracket v\rrbracket(\cdot)\)
t_propa	an optional temporal way of propagation (forward or backward in time, both ways by default)

contract_gates()

void codac::CtcDeriv::contract_gates ( Slice &  x, const Slice &  v  )

protected

Contracts input and output gates of a slice regarding its derivative set.

Precondition

\(\llbracket x\rrbracket(\cdot)\) and \(\llbracket v\rrbracket(\cdot)\) must share the same tdomain.

Note

Only the gates may be affected. This method is used for the \(\mathcal{C}_\textrm{eval}\) contractor.

Parameters

x	the slice \(\llbracket x\rrbracket(\cdot)\)
v	the derivative slice \(\llbracket v\rrbracket(\cdot)\)

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

• /home/simon/codac/src/core/contractors/dyn/codac_CtcDeriv.h