ompl::control::ODEErrorSolver< Solver > Class Template Reference

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>

Inheritance diagram for ompl::control::ODEErrorSolver< Solver >:

List of all members.

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:
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