Lodestar
An integrated real-time control package in C++
Public Member Functions | Static Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | List of all members
ls::symbolic::OrdinaryDifferentialEquation Class Reference

Public Member Functions

 OrdinaryDifferentialEquation (const GiNaC::lst &functions, const GiNaC::lst &states, const GiNaC::lst &inputs)
 
 OrdinaryDifferentialEquation (const GiNaC::lst &functions, const GiNaC::lst &states, const GiNaC::lst &inputs, const GiNaC::symbol &time)
 
GiNaC::exmap generateExpressionMap () const
 
GiNaC::exmap generateExpressionMap (const std::vector< GiNaC::relational > &relationals) const
 
GiNaC::exmap generateExpressionMap (const std::vector< double > &states, const std::vector< double > &inputs) const
 
GiNaC::exmap generateExpressionMap (double t, const std::vector< double > &states, const std::vector< double > &inputs) const
 
GiNaC::symbol getSymbol (const std::string &symbolName) const
 
GiNaC::symbol getStateSymbol (unsigned int i) const
 
GiNaC::symbol getInputSymbol (unsigned int i) const
 
GiNaC::symbol getTimeSymbol () const
 
const GiNaC::lst & getFunctions () const
 
void setFunctions (const GiNaC::lst &functions)
 
const GiNaC::lst & getStates () const
 
void setStates (const GiNaC::lst &states)
 
const GiNaC::lst & getInputs () const
 
void setInputs (const GiNaC::lst &inputs)
 
Eigen::MatrixXd evalf (const GiNaC::exmap &m) const
 
Eigen::MatrixXd evalf (const std::vector< double > &states, const std::vector< double > &inputs) const
 
Eigen::MatrixXd evalf (double t, const std::vector< double > &states, const std::vector< double > &inputs) const
 
GiNaC::matrix generateJacobian (const GiNaC::lst &variables) const
 
GiNaC::matrix generateJacobianStates () const
 
std::string generateJacobianStatesCppFunc (const std::string &functionName, const bool dynamicType=false) const
 
std::string generateJacobianStatesArrayInputCppFunc (const std::string &functionName, const bool dynamicType=false) const
 
GiNaC::matrix generateJacobianInputs () const
 
std::string generateJacobianInputsCppFunc (const std::string &functionName, const bool dynamicType=false) const
 
std::string generateJacobianInputsArrayInputCppFunc (const std::string &functionName, const bool dynamicType=false) const
 
Eigen::MatrixXd generateJacobianMatrix (const GiNaC::lst &variables, const GiNaC::exmap &exmap) const
 
Eigen::MatrixXd generateJacobianMatrix (const GiNaC::matrix &jacobian, const GiNaC::exmap &exmap) const
 
Eigen::MatrixXd generateJacobianMatrixStates (const GiNaC::exmap &exmap) const
 
Eigen::MatrixXd generateJacobianMatrixInputs (const GiNaC::exmap &exmap) const
 
std::string generateMatrixCppFunc (const GiNaC::matrix &ginacMatrix, const std::string &functionName, const bool dynamicType=false) const
 
std::string generateMatrixArrayInputCppFunc (const GiNaC::matrix &ginacMatrix, const std::string &functionName, const bool dynamicType=false) const
 
systems::StateSpace linearize (const GiNaC::exmap &exmap) const
 
systems::StateSpace linearize (const std::vector< double > &states, const std::vector< double > &inputs) const
 
systems::StateSpace linearize (double t, const std::vector< double > &states, const std::vector< double > &inputs) const
 
systems::StateSpace linearize (const GiNaC::matrix &jacobianStates, const GiNaC::matrix &jacobianInputs, const GiNaC::exmap &exmap) const
 
systems::StateSpace linearize (const GiNaC::matrix &jacobianStates, const GiNaC::matrix &jacobianInputs, const std::vector< double > &states, const std::vector< double > &inputs) const
 
systems::StateSpace linearize (const GiNaC::matrix &jacobianStates, const GiNaC::matrix &jacobianInputs, double t, const std::vector< double > &states, const std::vector< double > &inputs) const
 

Static Public Member Functions

static Eigen::MatrixXd matrixToMatrixXd (const GiNaC::matrix &mat)
 
static Eigen::MatrixXd matrixToMatrixXd (const GiNaC::ex &ex)
 

Protected Member Functions

void makeSymbolMap ()
 

Static Protected Member Functions

static void replaceString (std::string &str, const std::string &source, const std::string &dest)
 
static void replaceStringAll (std::string &str, const std::string &source, const std::string &dest)
 
static std::string stripWhiteSpace (std::string &str)
 

Protected Attributes

GiNaC::lst functions_
 
GiNaC::symbol time_
 
GiNaC::lst states_
 
GiNaC::lst inputs_
 
std::map< std::string, GiNaC::symbol > symbolMap_
 
The documentation for this class was generated from the following files: