navlib::DynamicsModel Class Reference

A set of first order differential equations that predicts the motion of a vehicle due to some control input. More...

#include <dynamics.h>

Inheritance diagram for navlib::DynamicsModel:

List of all members.

Public Types
typedef ublas::vector< double >	vector
	Funciton that gives the time derivative of the state x'=f(t,x,u,p).
typedef ublas::matrix< double >	matrix
typedef boost::function < vector(double, vector, vector, vector) >	PredictFun
Public Member Functions
	DynamicsModel (PredictFun f, vector x0, vector params)
vector	getParameters () const
	Returns the current parameter set (for system identification).
vector	getState () const
	Returns the current state.
vector	getStateDerivative (vector u) const
	Returns what the state derivative would be given an input.
vector	predict (vector x, vector u, double dt) const
	Predicts the next state given an input and a time difference.
void	setState (vector x)
	Sets the current state.
void	setParameters (vector p)
	Sets the current parameter estimate (for system identification).
vector	step (vector u, double dt)
	Simulates the system for a single time step.
void	setTime (const double &t)
	Sets the current simulation time.
Protected Attributes
PredictFun	_dxdt
	x'=f(t,x,u,p)
vector	_x
	state estimate
vector	_p
	parameter estimate
double	_t
	simulation time

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Detailed Description

A set of first order differential equations that predicts the motion of a vehicle due to some control input.

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Constructor & Destructor Documentation

DynamicsModel::DynamicsModel	(	PredictFun	f,
		vector	x0,
		vector	params
	)

Parameters:

	f	non-linear set of first order differential equations
	x0	initial state
	params	initial parameter estimage

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Member Function Documentation

ublas::vector< double > DynamicsModel::getStateDerivative

(

vector

u

)

const

Returns what the state derivative would be given an input.

Parameters:

u

control input

References _dxdt, _p, _t, and _x.

ublas::vector< double > DynamicsModel::predict	(	vector	x,
		vector	u,
		double	dt
	)			const

Predicts the next state given an input and a time difference.

Parameters:

	x	state
	u	control input
	dt	prediction time

References _dxdt, _p, and _t.

void DynamicsModel::setState

(

vector

x

)

Sets the current state.

Parameters:

x

state

References _x.

void DynamicsModel::setParameters

(

vector

p

)

Sets the current parameter estimate (for system identification).

Parameters:

p

parameters

References _p.

DynamicsModel::vector DynamicsModel::step	(	vector	u,
		double	dt
	)

Simulates the system for a single time step.

Parameters:

	u	control input
	dt	update time

References _dxdt, _p, _t, and _x.

void DynamicsModel::setTime

(

const double &

t

)

Sets the current simulation time.

Parameters:

t

time

References _t.

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

• dynamics.h
• dynamics.cpp