Solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound. This class wraps around the error stepper concept from boost::numeric::odeint. More...
#include <ompl/control/ODESolver.h>
Public Member Functions | |
| ODEErrorSolver (const SpaceInformationPtr &si, const ODESolver::ODE &ode, double intStep=1e-2) | |
| Parameterized constructor. Takes a reference to the SpaceInformation, an ODE to solve, and the integration step size - default is 0.01. | |
| ODESolver::StateType | getError () |
| Retrieves the error values from the most recent integration. | |
Protected Member Functions | |
| virtual void | solve (StateType &state, const Control *control, const double duration) const |
| Solve the ODE using boost::numeric::odeint. Save the resulting error values into error_. | |
Protected Attributes | |
| ODESolver::StateType | error_ |
| The error values calculated during numerical integration. | |
Detailed Description
template<class Solver = odeint::runge_kutta_cash_karp54<ODESolver::StateType>>
class ompl::control::ODEErrorSolver< Solver >
Solver for ordinary differential equations of the type q' = f(q, u), where q is the current state of the system and u is a control applied to the system. StateType defines the container object describing the state of the system. Solver is the numerical integration method used to solve the equations. The default is a fifth order Runge-Kutta Cash-Karp method with a fourth order error bound. This class wraps around the error stepper concept from boost::numeric::odeint.
Definition at line 226 of file ODESolver.h.
The documentation for this class was generated from the following file:
- ompl/control/ODESolver.h