n-dimensional trajectory \(\mathbf{x}(\cdot)\), defined as a temporal map of vector values More...

#include <codac_TrajectoryVector.h>

Inheritance diagram for codac::TrajectoryVector:

Collaboration diagram for codac::TrajectoryVector:

Public Member Functions
Definition
	TrajectoryVector (int n)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\). More...

	TrajectoryVector (const Interval &tdomain, const TFunction &f)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from an analytic expression. More...

	TrajectoryVector (const Interval &tdomain, const TFunction &f, double timestep)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from an analytic expression, and transforms it as a map of values (sampling procedure) More...

	TrajectoryVector (const std::map< double, Vector > &m_map_values)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a map of vector values. More...

	TrajectoryVector (const std::vector< std::map< double, double > > &v_map_values)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a vector of maps of scalar values. More...

	TrajectoryVector (const std::list< double > &list_t, const std::list< Vector > &list_x)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a list of vector values. More...

	TrajectoryVector (std::initializer_list< Trajectory > list)
	Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a list of Trajectory objects. More...

	TrajectoryVector (const TrajectoryVector &traj)
	Creates a copy of a n-dimensional trajectory \(\mathbf{x}(\cdot)\). More...

	TrajectoryVector (int n, const Trajectory &x)
	Creates a n-dimensional trajectory with all the components initialized to \(x(\cdot)\). More...

	~TrajectoryVector ()
	TrajectoryVector destructor.

const TrajectoryVector &	operator= (const TrajectoryVector &x)
	Returns a copy of a TrajectoryVector. More...

int	size () const
	Returns the dimension of the trajectory. More...

const Interval	tdomain () const
	Returns the temporal definition domain of this trajectory. More...

void	resize (int n)
	Resizes this TrajectoryVector. More...

const TrajectoryVector	subvector (int start_index, int end_index) const
	Returns a subvector of this TrajectoryVector. More...

void	put (int start_index, const TrajectoryVector &subvec)
	Puts a subvector into this TrajectoryVector at a given position. More...

Accessing values
const IntervalVector	codomain () const
	Returns the box of feasible values. More...

Trajectory &	operator[] (int index)
	Returns the ith Trajectory of this TrajectoryVector. More...

const Trajectory &	operator[] (int index) const
	Returns a const reference to the ith Trajectory of this TrajectoryVector. More...

const Vector	operator() (double t) const
	Returns the evaluation of this trajectory at \(t\). More...

const IntervalVector	operator() (const Interval &t) const
	Returns the interval evaluation of this trajectory over \([t]\). More...

const Vector	first_value () const
	Returns the value \(\mathbf{x}(t_0)\). More...

const Vector	last_value () const
	Returns the value \(\mathbf{x}(t_f)\). More...

Tests
bool	not_defined () const
	Tests whether this trajectory is defined or not. More...

bool	operator== (const TrajectoryVector &x) const
	Returns true if this trajectory is equal to \(\mathbf{x}(\cdot)\). More...

bool	operator!= (const TrajectoryVector &x) const
	Returns true if this trajectory is different from \(\mathbf{x}(\cdot)\). More...

Setting values
void	set (const Vector &y, double t)
	Sets a value \(\mathbf{y}\) at \(t\): \(\mathbf{x}(t)=\mathbf{y}\). More...

TrajectoryVector &	truncate_tdomain (const Interval &tdomain)
	Truncates the tdomain of \(\mathbf{x}(\cdot)\). More...

TrajectoryVector &	shift_tdomain (double a)
	Shifts the tdomain \([t_0,t_f]\) of \(\mathbf{x}(\cdot)\). More...

bool	same_tdomain_forall_components () const
	Checks whether all the Trajectory components have the same tdomain or not. More...

TrajectoryVector &	sample (double timestep)
	Transforms an analytic trajectory as a map of values. More...

TrajectoryVector &	sample (const Trajectory &x)
	Samples this trajectory so that it will share the same sampling of \(x(\cdot)\). More...

TrajectoryVector &	sample (const TrajectoryVector &x)
	Samples this trajectory so that it will share the same sampling of \(\mathbf{x}(\cdot)\). More...

TrajectoryVector &	make_continuous ()
	Makes a trajectory continuous by avoiding infinite slopes. More...

Integration
const TrajectoryVector	primitive (const Vector &c) const
	Computes an approximative primitive of \(\mathbf{x}(\cdot)\). More...

const TrajectoryVector	primitive (const Vector &c, double timestep) const
	Computes an approximative primitive of \(\mathbf{x}(\cdot)\) with some time discretization \(\delta\). More...

const TrajectoryVector	diff () const
	Differentiates this trajectory vector. More...

Assignments operators
const TrajectoryVector &	operator+= (double x)
	Operates +=. More...

const TrajectoryVector &	operator+= (const Trajectory &x)
	Operates +=. More...

const TrajectoryVector &	operator+= (const Vector &x)
	Operates +=. More...

const TrajectoryVector &	operator+= (const TrajectoryVector &x)
	Operates +=. More...

const TrajectoryVector &	operator-= (double x)
	Operates -=. More...

const TrajectoryVector &	operator-= (const Trajectory &x)
	Operates -=. More...

const TrajectoryVector &	operator-= (const Vector &x)
	Operates -=. More...

const TrajectoryVector &	operator-= (const TrajectoryVector &x)
	Operates -=. More...

const TrajectoryVector &	operator*= (double x)
	Operates *=. More...

const TrajectoryVector &	operator*= (const Trajectory &x)
	Operates *=. More...

const TrajectoryVector &	operator/= (double x)
	Operates /=. More...

const TrajectoryVector &	operator/= (const Trajectory &x)
	Operates /=. More...

Public Member Functions inherited from codac::DynamicalItem
virtual	~DynamicalItem ()
	DynamicalItem destructor.

Protected Member Functions
	TrajectoryVector ()
	Creates an undefined n-dimensional trajectory. More...

const IntervalVector	codomain_box () const
	Returns the box \(\mathbf{x}([t_0,t_f])\). More...

Protected Attributes
int	m_n = 0
	dimension of this trajectory

Trajectory *	m_v_trajs = nullptr
	array of components (scalar trajectories)

String
const std::string	class_name () const
	Returns the name of this class. More...

Additional Inherited Members
Static Public Member Functions inherited from codac::DynamicalItem
static bool	valid_tdomain (const Interval &tdomain)
	Verifies that this interval is a feasible tdomain. More...

Detailed Description

n-dimensional trajectory \(\mathbf{x}(\cdot)\), defined as a temporal map of vector values

Note: Use Trajectory for the one-dimensional case

Constructor & Destructor Documentation

◆ TrajectoryVector() [1/10]

codac::TrajectoryVector::TrajectoryVector ( int n )

explicit

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\).

Parameters

n	dimension of this trajectory

◆ TrajectoryVector() [2/10]

codac::TrajectoryVector::TrajectoryVector	(	const Interval &	tdomain,
		const TFunction &	f
	)

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from an analytic expression.

Parameters

tdomain	temporal domain \([t_0,t_f]\)
f	TFunction object defining the trajectory: \(\mathbf{x}(t)=\mathbf{f}(t)\)

◆ TrajectoryVector() [3/10]

codac::TrajectoryVector::TrajectoryVector	(	const Interval &	tdomain,
		const TFunction &	f,
		double	timestep
	)

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from an analytic expression, and transforms it as a map of values (sampling procedure)

Parameters

tdomain	temporal domain \([t_0,t_f]\)
f	TFunction object defining the trajectory: \(\mathbf{x}(t)=\mathbf{f}(t)\)
timestep	sampling value \(\delta\) for the temporal discretization (double)

◆ TrajectoryVector() [4/10]

codac::TrajectoryVector::TrajectoryVector ( const std::map< double, Vector > & m_map_values )

explicit

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a map of vector values.

Parameters

m_map_values map<t,y> defining the trajectory: \(\mathbf{x}(t)=\mathbf{y}\)

◆ TrajectoryVector() [5/10]

codac::TrajectoryVector::TrajectoryVector ( const std::vector< std::map< double, double > > & v_map_values )

explicit

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a vector of maps of scalar values.

Parameters

v_map_values set of map<t,y> defining the trajectory: \(\mathbf{x}(t)=\mathbf{y}\)

◆ TrajectoryVector() [6/10]

codac::TrajectoryVector::TrajectoryVector	(	const std::list< double > &	list_t,
		const std::list< Vector > &	list_x
	)

explicit

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a list of vector values.

Values and datations are separated into two lists.

Parameters

list_t	list of time keys
list_x	list of vector values

◆ TrajectoryVector() [7/10]

codac::TrajectoryVector::TrajectoryVector ( std::initializer_list< Trajectory > list )

Creates a n-dimensional trajectory \(\mathbf{x}(\cdot)\) from a list of Trajectory objects.

Parameters

list	list of \(x_i(\cdot)\) trajectories

◆ TrajectoryVector() [8/10]

codac::TrajectoryVector::TrajectoryVector ( const TrajectoryVector & traj )

Creates a copy of a n-dimensional trajectory \(\mathbf{x}(\cdot)\).

Parameters

traj	TrajectoryVector to be duplicated

◆ TrajectoryVector() [9/10]

codac::TrajectoryVector::TrajectoryVector	(	int	n,
		const Trajectory &	x
	)

Creates a n-dimensional trajectory with all the components initialized to \(x(\cdot)\).

Parameters

n	dimension of this trajectory
x	Trajectory to be copied for all the components

◆ TrajectoryVector() [10/10]

codac::TrajectoryVector::TrajectoryVector ( )

protected

Creates an undefined n-dimensional trajectory.

Note: Constructor necessary for the deserialize_TrajectoryVector method

Member Function Documentation

◆ operator=()

const TrajectoryVector& codac::TrajectoryVector::operator= ( const TrajectoryVector & x )

Returns a copy of a TrajectoryVector.

Parameters

x	the TrajectoryVector object to be copied

Returns: a new TrajectoryVector object with same values/definition

◆ size()

int codac::TrajectoryVector::size ( ) const

virtual

Returns the dimension of the trajectory.

Returns: n

Implements codac::DynamicalItem.

◆ tdomain()

const Interval codac::TrajectoryVector::tdomain ( ) const

virtual

Returns the temporal definition domain of this trajectory.

Returns: an Interval object \([t_0,t_f]\)

Implements codac::DynamicalItem.

◆ resize()

void codac::TrajectoryVector::resize ( int n )

Resizes this TrajectoryVector.

Note: If the size is increased, the existing components are not modified and the new ones are set to empty trajectories

Parameters

n	the new size to be set

◆ subvector()

const TrajectoryVector codac::TrajectoryVector::subvector	(	int	start_index,
		int	end_index
	)		const

Returns a subvector of this TrajectoryVector.

Parameters

start_index	first component index of the subvector to be returned
end_index	last component index of the subvector to be returned

Returns: a TrajectoryVector extracted from this TrajectoryVector

◆ put()

void codac::TrajectoryVector::put	(	int	start_index,
		const TrajectoryVector &	subvec
	)

Puts a subvector into this TrajectoryVector at a given position.

Parameters

start_index	position where the subvector will be put
subvec	the TrajectoryVector to put from start_index

◆ codomain()

const IntervalVector codac::TrajectoryVector::codomain ( ) const

Returns the box of feasible values.

Returns: an IntervalVector object \(\mathbf{x}([t_0,t_f])\)

◆ operator[]() [1/2]

Trajectory& codac::TrajectoryVector::operator[] ( int index )

Returns the ith Trajectory of this TrajectoryVector.

Parameters

index the index of this ith component

Returns: a reference to the ith component

◆ operator[]() [2/2]

const Trajectory& codac::TrajectoryVector::operator[] ( int index ) const

Returns a const reference to the ith Trajectory of this TrajectoryVector.

Parameters

index the index of this ith component

Returns: a const reference to the ith component

◆ operator()() [1/2]

const Vector codac::TrajectoryVector::operator() ( double t ) const

Returns the evaluation of this trajectory at \(t\).

Note: Be careful, if the trajectory is defined from an analytic function, then an approximation will be made (since the TFunction returns a boxed evaluation, while the expected returned value is a real here). Please use the operator(Interval(double)) for a reliable evaluation.

Parameters

t	the temporal key (double, must belong to the trajectory's tdomain)

Returns: real vector value \(\mathbf{x}(t)\)

◆ operator()() [2/2]

const IntervalVector codac::TrajectoryVector::operator() ( const Interval & t ) const

Returns the interval evaluation of this trajectory over \([t]\).

Parameters

t	the subtdomain (Interval, must be a subset of the trajectory's tdomain)

Returns: IntervalVector envelope \(\mathbf{x}([t])\)

◆ first_value()

const Vector codac::TrajectoryVector::first_value ( ) const

Returns the value \(\mathbf{x}(t_0)\).

Returns: real value \(\mathbf{x}(t_0)\)

◆ last_value()

const Vector codac::TrajectoryVector::last_value ( ) const

Returns the value \(\mathbf{x}(t_f)\).

Returns: real value \(\mathbf{x}(t_f)\)

◆ not_defined()

bool codac::TrajectoryVector::not_defined ( ) const

Tests whether this trajectory is defined or not.

Returns: false in case of non-empty map, or definition from a TFunction object, true otherwise

◆ operator==()

bool codac::TrajectoryVector::operator== ( const TrajectoryVector & x ) const

Returns true if this trajectory is equal to \(\mathbf{x}(\cdot)\).

Parameters

x	the TrajectoryVector object

Returns: true in case of equality

◆ operator!=()

bool codac::TrajectoryVector::operator!= ( const TrajectoryVector & x ) const

Returns true if this trajectory is different from \(\mathbf{x}(\cdot)\).

Parameters

x	the TrajectoryVector object

Returns: true in case of difference

◆ set()

void codac::TrajectoryVector::set	(	const Vector &	y,
		double	t
	)

Sets a value \(\mathbf{y}\) at \(t\): \(\mathbf{x}(t)=\mathbf{y}\).

Parameters

y	local vector value of the trajectory
t	the temporal key (double, must belong to the trajectory's tdomain)

◆ truncate_tdomain()

TrajectoryVector& codac::TrajectoryVector::truncate_tdomain ( const Interval & tdomain )

Truncates the tdomain of \(\mathbf{x}(\cdot)\).

Note: The new tdomain must be a subset of the old one

Parameters

tdomain new temporal domain \([t_0,t_f]\)

Returns: a reference to this trajectory

◆ shift_tdomain()

TrajectoryVector& codac::TrajectoryVector::shift_tdomain ( double a )

Shifts the tdomain \([t_0,t_f]\) of \(\mathbf{x}(\cdot)\).

Note: If the trajectory is defined from a map of values, the key of each value will be shifted. In case of a definition from an analytic function, only the tdomain will be changed.

Parameters

a	the offset value so that \([t_0,t_f]:=[t_0-a,t_f-a]\)

Returns: a reference to this trajectory

◆ same_tdomain_forall_components()

bool codac::TrajectoryVector::same_tdomain_forall_components ( ) const

Checks whether all the Trajectory components have the same tdomain or not.

Returns: true in case of temporal consistency

◆ sample() [1/3]

TrajectoryVector& codac::TrajectoryVector::sample ( double timestep )

Transforms an analytic trajectory as a map of values.

Note: Sampling only available for trajectories firstly defined as analytic functions

Parameters

timestep sampling value \(\delta\) for the temporal discretization (double)

Returns: a reference to this trajectory

◆ sample() [2/3]

TrajectoryVector& codac::TrajectoryVector::sample ( const Trajectory & x )

Samples this trajectory so that it will share the same sampling of \(x(\cdot)\).

Note: If the trajectory is defined as an analytic function, then the object is transformed into a map of values and the TFunction object is deleted.; The previous sampling of this trajectory is preserved

Parameters

x	the Trajectory from which the new sampling will come from

Returns: a reference to this trajectory

◆ sample() [3/3]

TrajectoryVector& codac::TrajectoryVector::sample ( const TrajectoryVector & x )

Samples this trajectory so that it will share the same sampling of \(\mathbf{x}(\cdot)\).

Note: If the trajectory is defined as an analytic function, then the object is transformed into a map of values and the TFunction object is deleted.; The previous sampling of this trajectory is preserved

Parameters

x	the TrajectoryVector from which the new sampling will come from

Returns: a reference to this trajectory

◆ make_continuous()

TrajectoryVector& codac::TrajectoryVector::make_continuous ( )

Makes a trajectory continuous by avoiding infinite slopes.

Note: This is mainly used when angles are expressed between \([-\pi,\pi]\), which produces troublesome discontinuities. For instance, a tube directly built from such discontinuous trajectory will be made of very large slices, inducing unwanted pessimism.; The previous sampling of this trajectory is preserved

Returns: a reference to this trajectory

◆ primitive() [1/2]

const TrajectoryVector codac::TrajectoryVector::primitive ( const Vector & c ) const

Computes an approximative primitive of \(\mathbf{x}(\cdot)\).

Note: The trajectory must not be defined from an analytic function. Please use the other method with time discretization for such case.

Parameters

c	the constant of integration

Returns: a new TrajectoryVector object with the same temporal keys

◆ primitive() [2/2]

const TrajectoryVector codac::TrajectoryVector::primitive	(	const Vector &	c,
		double	timestep
	)		const

Computes an approximative primitive of \(\mathbf{x}(\cdot)\) with some time discretization \(\delta\).

Parameters

c	the constant of integration
timestep	sampling value \(\delta\) for the temporal discretization (double)

Returns: a new TrajectoryVector object with the specified time discretization

◆ diff()

const TrajectoryVector codac::TrajectoryVector::diff ( ) const

Differentiates this trajectory vector.

Note: If the trajectory is defined from an analytic function, the exact differentiation is returned. Otherwise, from a map of values, finite differences are computed.

Returns: a derivative trajectory vector

◆ operator+=() [1/4]

const TrajectoryVector& codac::TrajectoryVector::operator+= ( double x )

Operates +=.

Parameters

x double

Returns: (*this)+=x

◆ operator+=() [2/4]

const TrajectoryVector& codac::TrajectoryVector::operator+= ( const Trajectory & x )

Operates +=.

Parameters

x	Trajectory

Returns: (*this)+=x

◆ operator+=() [3/4]

const TrajectoryVector& codac::TrajectoryVector::operator+= ( const Vector & x )

Operates +=.

Parameters

x Vector

Returns: (*this)+=x

◆ operator+=() [4/4]

const TrajectoryVector& codac::TrajectoryVector::operator+= ( const TrajectoryVector & x )

Operates +=.

Parameters

x	TrajectoryVector

Returns: (*this)+=x

◆ operator-=() [1/4]

const TrajectoryVector& codac::TrajectoryVector::operator-= ( double x )

Operates -=.

Parameters

x double

Returns: (*this)-=x

◆ operator-=() [2/4]

const TrajectoryVector& codac::TrajectoryVector::operator-= ( const Trajectory & x )

Operates -=.

Parameters

x	Trajectory

Returns: (*this)-=x

◆ operator-=() [3/4]

const TrajectoryVector& codac::TrajectoryVector::operator-= ( const Vector & x )

Operates -=.

Parameters

x Vector

Returns: (*this)-=x

◆ operator-=() [4/4]

const TrajectoryVector& codac::TrajectoryVector::operator-= ( const TrajectoryVector & x )

Operates -=.

Parameters

x	TrajectoryVector

Returns: (*this)-=x

◆ operator*=() [1/2]

const TrajectoryVector& codac::TrajectoryVector::operator*= ( double x )

Operates *=.

Parameters

x double

Returns: (this)=x

◆ operator*=() [2/2]

const TrajectoryVector& codac::TrajectoryVector::operator*= ( const Trajectory & x )

Operates *=.

Parameters

x	Trajectory

Returns: (this)=x

◆ operator/=() [1/2]

const TrajectoryVector& codac::TrajectoryVector::operator/= ( double x )

Operates /=.

Parameters

x double

Returns: (*this)/=x

◆ operator/=() [2/2]

const TrajectoryVector& codac::TrajectoryVector::operator/= ( const Trajectory & x )

Operates /=.

Parameters

x	Trajectory

Returns: (*this)/=x

◆ class_name()

const std::string codac::TrajectoryVector::class_name ( ) const

inlinevirtual

Returns the name of this class.

Note: Only used for some generic display method

Returns: the predefined name

Implements codac::DynamicalItem.

497 { return "TrajectoryVector"; };

◆ codomain_box()

const IntervalVector codac::TrajectoryVector::codomain_box ( ) const

protectedvirtual

Returns the box \(\mathbf{x}([t_0,t_f])\).

Note: Used for genericity purposes

Returns: the envelope of codomain values

Implements codac::DynamicalItem.

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

/home/simon/codac/src/core/variables/trajectory/codac_TrajectoryVector.h

Public Member Functions

Protected Member Functions

Protected Attributes

String

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TrajectoryVector() [1/10]

◆ TrajectoryVector() [2/10]

◆ TrajectoryVector() [3/10]

◆ TrajectoryVector() [4/10]

◆ TrajectoryVector() [5/10]

◆ TrajectoryVector() [6/10]

◆ TrajectoryVector() [7/10]

◆ TrajectoryVector() [8/10]

◆ TrajectoryVector() [9/10]

◆ TrajectoryVector() [10/10]

Member Function Documentation

◆ operator=()

◆ size()

◆ tdomain()

◆ resize()

◆ subvector()

◆ put()

◆ codomain()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ first_value()

◆ last_value()

◆ not_defined()

◆ operator==()

◆ operator!=()

◆ set()

◆ truncate_tdomain()

◆ shift_tdomain()

◆ same_tdomain_forall_components()

◆ sample() [1/3]

◆ sample() [2/3]

◆ sample() [3/3]

◆ make_continuous()

◆ primitive() [1/2]

◆ primitive() [2/2]

◆ diff()

◆ operator+=() [1/4]

◆ operator+=() [2/4]

◆ operator+=() [3/4]

◆ operator+=() [4/4]

◆ operator-=() [1/4]

◆ operator-=() [2/4]

◆ operator-=() [3/4]

◆ operator-=() [4/4]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ class_name()

◆ codomain_box()