One dimensional trajectory \(x(\cdot)\), defined as a temporal map of values. More...

#include <codac_Trajectory.h>

Inheritance diagram for codac::Trajectory:

[legend]

Collaboration diagram for codac::Trajectory:

Public Member Functions
Definition
	Trajectory ()
	Creates an empty scalar trajectory \(x(\cdot)\).

	Trajectory (const Interval &tdomain, const TFunction &f)
	Creates a scalar trajectory \(x(\cdot)\) from an analytic expression.

	Trajectory (const Interval &tdomain, const TFunction &f, double timestep)
	Creates a scalar trajectory \(x(\cdot)\) from an analytic expression, and transforms it as a map of values (sampling procedure)

	Trajectory (const std::map< double, double > &m_map_values)
	Creates a scalar trajectory \(x(\cdot)\) from a map of values.

	Trajectory (const std::list< double > &list_t, const std::list< double > &list_x)
	Creates a scalar trajectory \(x(\cdot)\) from a list of values.

	Trajectory (const Trajectory &traj)
	Creates a copy of a scalar trajectory \(x(\cdot)\).

	~Trajectory ()
	Trajectory destructor.

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

int	size () const
	Returns the dimension of the scalar trajectory (always 1)

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

TrajDefnType	definition_type () const
	Returns the definition type of this trajectory.

Accessing values
const std::map< double, double > &	sampled_map () const
	Returns the map of values, if the object is defined as a map.

const TFunction *	tfunction () const
	Returns the temporal function, if the object is an analytic trajectory.

const Interval	codomain () const
	Returns the interval of feasible values.

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

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

double	first_value () const
	Returns the value \(x(t_0)\).

double	last_value () const
	Returns the value \(x(t_f)\).

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

bool	operator== (const Trajectory &x) const
	Returns true if this trajectory is equal to \(x(\cdot)\).

bool	operator!= (const Trajectory &x) const
	Returns true if this trajectory is different from \(x(\cdot)\).

Setting values
void	set (double y, double t)
	Sets a value \(y\) at \(t\): \(x(t)=y\).

Trajectory &	truncate_tdomain (const Interval &tdomain)
	Truncates the tdomain of \(x(\cdot)\).

Trajectory &	shift_tdomain (double a)
	Shifts the tdomain \([t_0,t_f]\) of \(x(\cdot)\).

bool	constant_timestep (double &h) const
	Returns true if the same amount of time separates each value.

Trajectory &	sample (double timestep)
	Samples the trajectory by adding new points to the map of values.

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

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

Integration
const Trajectory	primitive (double c=0.) const
	Computes an approximative primitive of \(x(\cdot)\).

const Trajectory	primitive (double c, double timestep) const
	Computes an approximative primitive of \(x(\cdot)\) with some time discretization \(\delta\).

const Trajectory	diff () const
	Differentiates this trajectory.

double	finite_diff (double t, double h) const
	Computes the finite difference at \(t\), with an automatic order of accuracy.

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

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

const Trajectory &	operator-= (double x)
	Operates -=.

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

const Trajectory &	operator*= (double x)
	Operates *=.

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

const Trajectory &	operator/= (double x)
	Operates /=.

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

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

Protected Member Functions
const IntervalVector	codomain_box () const
	Returns the box \(x([t_0,t_f])\).

void	compute_codomain ()
	Computes the envelope of trajectory values.

Protected Attributes
Interval	m_tdomain = Interval::EMPTY_SET
	temporal domain \([t_0,t_f]\) of the trajectory

Interval	m_codomain = Interval::EMPTY_SET
	envelope of the values of the trajectory

TrajDefnType	m_traj_def_type = TrajDefnType::MAP_OF_VALUES
	definition type

TFunction *	m_function = nullptr
	optional pointer to the analytic expression of this trajectory

std::map< double, double >	m_map_values
	optional map of values <t,y>: \(x(t)=y\)

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

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.

Detailed Description

One dimensional trajectory \(x(\cdot)\), defined as a temporal map of values.

Note: Use TrajectoryVector for the multi-dimensional case

Constructor & Destructor Documentation

◆ Trajectory() [1/6]

codac::Trajectory::Trajectory ( )

Creates an empty scalar trajectory \(x(\cdot)\).

The trajectory is made of an empty map of values.

◆ Trajectory() [2/6]

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

Creates a scalar trajectory \(x(\cdot)\) from an analytic expression.

Parameters

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

◆ Trajectory() [3/6]

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

Creates a scalar trajectory \(x(\cdot)\) 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: \(x(t)=f(t)\)
timestep	sampling value \(\delta\) for the temporal discretization (double)

◆ Trajectory() [4/6]

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

explicit

Creates a scalar trajectory \(x(\cdot)\) from a map of values.

Parameters

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

◆ Trajectory() [5/6]

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

explicit

Creates a scalar trajectory \(x(\cdot)\) from a list of values.

Values and datations are separated into two lists.

Parameters

list_t	list of time keys
list_x	list of values

◆ Trajectory() [6/6]

codac::Trajectory::Trajectory ( const Trajectory & traj )

Creates a copy of a scalar trajectory \(x(\cdot)\).

Parameters

traj	Trajectory to be duplicated

Member Function Documentation

◆ operator=()

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

Returns a copy of a Trajectory.

Parameters

x	the Trajectory object to be copied

Returns: a new Trajectory object with same values/definition

◆ size()

int codac::Trajectory::size ( ) const

virtual

Returns the dimension of the scalar trajectory (always 1)

Returns: 1

Implements codac::DynamicalItem.

◆ tdomain()

const Interval codac::Trajectory::tdomain ( ) const

virtual

Returns the temporal definition domain of this trajectory.

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

Implements codac::DynamicalItem.

◆ definition_type()

TrajDefnType codac::Trajectory::definition_type ( ) const

Returns the definition type of this trajectory.

Returns: TrajDefnType::ANALYTIC_FNC or TrajDefnType::MAP_OF_VALUES

◆ sampled_map()

const std::map< double, double > & codac::Trajectory::sampled_map ( ) const

Returns the map of values, if the object is defined as a map.

Returns: a map<t,y> of values, or an empty map

◆ tfunction()

const TFunction * codac::Trajectory::tfunction ( ) const

Returns the temporal function, if the object is an analytic trajectory.

Returns: a pointer to a TFunction object

◆ codomain()

const Interval codac::Trajectory::codomain ( ) const

Returns the interval of feasible values.

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

◆ operator()() [1/2]

double codac::Trajectory::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 value \(x(t)\)

◆ operator()() [2/2]

const Interval codac::Trajectory::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 domain)

Returns: Interval envelope \(x([t])\)

◆ first_value()

double codac::Trajectory::first_value ( ) const

Returns the value \(x(t_0)\).

Returns: real value \(x(t_0)\)

◆ last_value()

double codac::Trajectory::last_value ( ) const

Returns the value \(x(t_f)\).

Returns: real value \(x(t_f)\)

◆ not_defined()

bool codac::Trajectory::not_defined ( ) const

Tests whether this trajectory is defined or not.

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

◆ operator==()

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

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

Parameters

x	the Trajectory object

Returns: true in case of equality

◆ operator!=()

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

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

Parameters

x	the Trajectory object

Returns: true in case of difference

◆ set()

void codac::Trajectory::set	(	double	y,
		double	t )

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

Note: The trajectory must not be defined from an analytic function

Parameters

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

◆ truncate_tdomain()

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

Truncates the tdomain of \(x(\cdot)\).

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()

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

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

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

◆ constant_timestep()

bool codac::Trajectory::constant_timestep ( double & h ) const

Returns true if the same amount of time separates each value.

Parameters

h	the evaluated timestep (constant if true is returned)

Returns: true if h is constant

◆ sample() [1/2]

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

Samples the trajectory by adding new points to the map of values.

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.

Parameters

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

Returns: a reference to this trajectory

◆ sample() [2/2]

Trajectory & codac::Trajectory::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

◆ make_continuous()

Trajectory & codac::Trajectory::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 Trajectory codac::Trajectory::primitive ( double c = 0. ) const

Computes an approximative primitive of \(x(\cdot)\).

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 (0. by default)

Returns: a new Trajectory object with the same temporal keys

◆ primitive() [2/2]

const Trajectory codac::Trajectory::primitive	(	double	c,
		double	timestep ) const

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

Parameters

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

Returns: a new Trajectory object with the specified time discretization

◆ diff()

const Trajectory codac::Trajectory::diff ( ) const

Differentiates this trajectory.

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. In this case, the timestep of the values must be constant for accurate computation.

Returns: a derivative trajectory

◆ finite_diff()

double codac::Trajectory::finite_diff	(	double	t,
		double	h ) const

Computes the finite difference at \(t\), with an automatic order of accuracy.

Central, forward or backward finite differences are computed.

Note: This function only works with trajectories defined as a map of values.; A uniform grid spacing is assumed.

Parameters

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

Returns: a derivative trajectory

◆ operator+=() [1/2]

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

Operates +=.

Parameters

x double

Returns: (*this)+=x

◆ operator+=() [2/2]

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

Operates +=.

Parameters

x	Trajectory

Returns: (*this)+=x

◆ operator-=() [1/2]

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

Operates -=.

Parameters

x double

Returns: (*this)-=x

◆ operator-=() [2/2]

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

Operates -=.

Parameters

x	Trajectory

Returns: (*this)-=x

◆ operator*=() [1/2]

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

Operates *=.

Parameters

x double

Returns: (this)=x

◆ operator*=() [2/2]

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

Operates *=.

Parameters

x	Trajectory

Returns: (this)=x

◆ operator/=() [1/2]

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

Operates /=.

Parameters

x double

Returns: (*this)/=x

◆ operator/=() [2/2]

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

Operates /=.

Parameters

x	Trajectory

Returns: (*this)/=x

◆ class_name()

const std::string codac::Trajectory::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.

425{ return "Trajectory"; };

◆ codomain_box()

const IntervalVector codac::Trajectory::codomain_box ( ) const

protectedvirtual

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

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_Trajectory.h

Public Member Functions

Protected Member Functions

Protected Attributes

String

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Trajectory() [1/6]

◆ Trajectory() [2/6]

◆ Trajectory() [3/6]

◆ Trajectory() [4/6]

◆ Trajectory() [5/6]

◆ Trajectory() [6/6]

Member Function Documentation

◆ operator=()

◆ size()

◆ tdomain()

◆ definition_type()

◆ sampled_map()

◆ tfunction()

◆ codomain()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ first_value()

◆ last_value()

◆ not_defined()

◆ operator==()

◆ operator!=()

◆ set()

◆ truncate_tdomain()

◆ shift_tdomain()

◆ constant_timestep()

◆ sample() [1/2]

◆ sample() [2/2]

◆ make_continuous()

◆ primitive() [1/2]

◆ primitive() [2/2]

◆ diff()

◆ finite_diff()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ class_name()

◆ codomain_box()