Model< DynamicsType > Class Template Reference

Base type for all model simulators. More...

#include <Models.h>

Public Types
using	InputSignalType = typename DynamicsType::InputSignalType
using	StateDotSignalType = typename DynamicsType::StateDotSignalType
using	StateSignalType = typename DynamicsType::StateSignalType
using	ParamsType = typename DynamicsType::ParamsType

Public Member Functions
	Model ()
	Initialize a model with no parameters.
void	setParams (const ParamsType &params)
	Initialize the model with any required parameters.
bool	hasParams ()
	Verify that the model has parameters explicity set by setParams().
void	reset ()
	Zero out the model state and derivative variables and reset simulation time to zero.
double	t () const
	Get the current simulation time.
template<typename IntegratorType>
bool	simulate (const InputSignalType &u, const double &tf, const bool &insertIntoHistory=false, const bool &calculateXddot=false)
	Simulate the system response to an input over a specified time interval.
template<typename IntegratorType>
bool	simulate (const InputSignalType &u, const double &tf, const double &dt, const bool &insertIntoHistory=false, const bool &calculateXddot=false)
	Simulate the system response to an input over a specified time interval, chunked up into smaller integration increments.

Public Attributes
StateSignalType	x
	Model state signal.
StateDotSignalType	xdot
	Time derivative of the model state signal.

Detailed Description

template<typename DynamicsType>
class Model< DynamicsType >

Base type for all model simulators.

Provides methods for initialization, reset, and simulation of dynamic models.

Derived types:

• Translational1DOFModel(d)
• Translational2DOFModel(d)
• Translational3DOFModel(d)
• Rotational1DOFModel(d)
• Rotational3DOFModel(d)
• RigidBody3DOFModel(d)
• RigidBody6DOFModel(d)

Member Typedef Documentation

InputSignalType

template<typename DynamicsType>

using Model< DynamicsType >::InputSignalType = typename DynamicsType::InputSignalType

ParamsType

template<typename DynamicsType>

using Model< DynamicsType >::ParamsType = typename DynamicsType::ParamsType

StateDotSignalType

template<typename DynamicsType>

using Model< DynamicsType >::StateDotSignalType = typename DynamicsType::StateDotSignalType

StateSignalType

template<typename DynamicsType>

using Model< DynamicsType >::StateSignalType = typename DynamicsType::StateSignalType

Constructor & Destructor Documentation

Model()

template<typename DynamicsType>

Model< DynamicsType >::Model ( )

inline

Initialize a model with no parameters.

Member Function Documentation

hasParams()

template<typename DynamicsType>

bool Model< DynamicsType >::hasParams ( )

inline

Verify that the model has parameters explicity set by setParams().

reset()

template<typename DynamicsType>

void Model< DynamicsType >::reset ( )

inline

Zero out the model state and derivative variables and reset simulation time to zero.

setParams()

template<typename DynamicsType>

void Model< DynamicsType >::setParams ( const ParamsType & params )

inline

Initialize the model with any required parameters.

The required parameters are determined by the model / dynamics specialization.

simulate() [1/2]

template<typename DynamicsType>

template<typename IntegratorType>

bool Model< DynamicsType >::simulate ( const InputSignalType & u, const double & tf, const bool & insertIntoHistory = false, const bool & calculateXddot = false )

inline

Simulate the system response to an input over a specified time interval.

Parameters

u	The input signal, which should be defined up to tf.
tf	The time to simulate to. Ideally the delta from the current time is small.
insertIntoHistory	Whether to store the result in state memory.
calculateXddot	Whether to use finite differencing to calculate the second time derivative of the state.

Returns

Whether the simulation was successful.

simulate() [2/2]

template<typename DynamicsType>

template<typename IntegratorType>

bool Model< DynamicsType >::simulate ( const InputSignalType & u, const double & tf, const double & dt, const bool & insertIntoHistory = false, const bool & calculateXddot = false )

inline

Simulate the system response to an input over a specified time interval, chunked up into smaller integration increments.

Parameters

u	The input signal, which should be defined up to tf.
tf	The time to simulate to.
dt	Time delta length by which to chunk up the integrations. Ideally this is small.
insertIntoHistory	Whether to store the result in state memory.
calculateXddot	Whether to use finite differencing to calculate the second time derivative of the state.

Returns

Whether the simulation was successful.

t()

template<typename DynamicsType>

double Model< DynamicsType >::t ( ) const

inline

Get the current simulation time.

Member Data Documentation

x

template<typename DynamicsType>

StateSignalType Model< DynamicsType >::x

Model state signal.

xdot

template<typename DynamicsType>

StateDotSignalType Model< DynamicsType >::xdot

Time derivative of the model state signal.

---

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

• include/signals/Models.h