#include <tvm/task_dynamics/OneStepToZero.h>

Inheritance diagram for tvm::task_dynamics::OneStepToZero:

Collaboration diagram for tvm::task_dynamics::OneStepToZero:

Classes
class	Impl

Public Member Functions
	OneStepToZero (Order d, double dt)

Public Member Functions inherited from tvm::task_dynamics::abstract::TaskDynamics
virtual	~TaskDynamics ()=default

std::unique_ptr< TaskDynamicsImpl >	impl (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const

Order	order () const

Static Public Member Functions
static void	checkParam (Order d, double dt)

Protected Member Functions
std::unique_ptr< abstract::TaskDynamicsImpl >	impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const override

Order	order_ () const override

Detailed Description

Compute \( e^{(d)*} = - \sum_{i=0}^{d-1} \frac{d!}{i! dt^{k-i}} \) (Order d) with \( dt \) an integration step. That is, compute the desired d-th derivative of \( e \) such that if \( e(t+dt) \) was equal to its Taylor expansion of order d, achieving \( e^{(d)*} \) would bring \( e \) to 0 in on step \( dt \).

Constructor & Destructor Documentation

◆ OneStepToZero()

tvm::task_dynamics::OneStepToZero::OneStepToZero	(	Order	d,
		double	dt
	)

Member Function Documentation

◆ checkParam()

static void tvm::task_dynamics::OneStepToZero::checkParam	(	Order	d,
		double	dt
	)

static

◆ impl_()

std::unique_ptr<abstract::TaskDynamicsImpl> tvm::task_dynamics::OneStepToZero::impl_	(	FunctionPtr	f,
		constraint::Type	t,
		const Eigen::VectorXd &	rhs
	)		const

overrideprotectedvirtual

Implements tvm::task_dynamics::abstract::TaskDynamics.

◆ order_()

Order tvm::task_dynamics::OneStepToZero::order_ ( ) const

overrideprotectedvirtual

Implements tvm::task_dynamics::abstract::TaskDynamics.

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

include/tvm/task_dynamics/OneStepToZero.h

Classes

Public Member Functions

Static Public Member Functions