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ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
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adore::mad::LSpiralFunction< T, M > Class Template Reference

#include <lspiralfunction.h>

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Classes

class  diffspiral
 

Public Member Functions

 LSpiralFunction ()
 
 LSpiralFunction (LLinearPiecewiseFunctionM< T, 3+M+1 > *linear_data)
 
virtual ~LSpiralFunction ()
 
 LSpiralFunction (T S, T X0, T Y0, T ds, const adoreMatrix< T, 1, M+2 > &p0)
 
 LSpiralFunction (T S, T X0, T Y0, T kappa_max, T emax, const adoreMatrix< T, 1, M+2 > &p0)
 
 LSpiralFunction (T S, T X0, T Y0, T PSI0, T kappa0, T kappa1, T emax)
 
virtual ALFunction< T, T > * create_heading ()
 
virtual adoreMatrix< T, 2, 1 > f (T x) const override
 
virtual T limitHi () const override
 
virtual T limitLo () const override
 
virtual void setLimits (T lo, T hi) override
 
virtual ALFunction< T, adoreMatrix< T, 2, 1 > > * clone () override
 
virtual ALFunction< T, adoreMatrix< T, 2, 1 > > * create_derivative () override
 
virtual void bound (const T &xmin, const T &xmax, adoreMatrix< T, 2, 1 > &ymin, adoreMatrix< T, 2, 1 > &ymax) override
 
virtual ALFunction< T, T > * dimension (int i) override
 
virtual T fi (T x, int dim) const override
 
virtual void multiply (adoreMatrix< T, 0, 0 > A, int rowi, int rowj)
 
virtual void add (adoreMatrix< T, 0, 1 > b, int rowi, int rowj)
 
- Public Member Functions inherited from adore::mad::AScalarToN< T, 2 >
void toArray (DT *xvec, T *yvec, unsigned int count)
 
void toArray (DT *xvec, T *yvec, unsigned int count, unsigned int row)
 
virtual void operator*= (adoreMatrix< T, N, N > A)
 
virtual void operator+= (adoreMatrix< T, N, 1 > b)
 
virtual void operator-= (adoreMatrix< T, N, 1 > b)
 
- Public Member Functions inherited from adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >
virtual void f (T *xvec, adoreMatrix< T, N, 1 > *yvec, unsigned int count) const
 
virtual void bound (const T &xmin, const T &xmax, adoreMatrix< T, N, 1 > &ymin, adoreMatrix< T, N, 1 > &ymax)=0
 
void bound (adoreMatrix< T, N, 1 > &ymin, adoreMatrix< T, N, 1 > &ymax)
 
virtual ~ALFunction ()
 
 ALFunction ()
 
const adoreMatrix< T, N, 1 > operator() (T x) const
 
bool isInDomain (T x)
 
adoreMatrix< T, N, 1 > f_bounded (T x)
 
void invalidateCachedBounds ()
 

Public Attributes

LLinearPiecewiseFunctionM< T, 3+M+1 > * m_linear_data
 

Additional Inherited Members

- Public Types inherited from adore::mad::AScalarToN< T, 2 >
typedef T DT
 
typedef adoreMatrix< T, N, 1 > CT
 
typedef ALFunction< DT, T > SUBFUN
 

Detailed Description

template<typename T, int M>
class adore::mad::LSpiralFunction< T, M >

A two-dimensional spiral function of degree M. Spiral's curvature has M derivatives

Constructor & Destructor Documentation

◆ LSpiralFunction() [1/5]

template<typename T , int M>
adore::mad::LSpiralFunction< T, M >::LSpiralFunction ( )
inline

◆ LSpiralFunction() [2/5]

template<typename T , int M>
adore::mad::LSpiralFunction< T, M >::LSpiralFunction ( LLinearPiecewiseFunctionM< T, 3+M+1 > *  linear_data)
inline

◆ ~LSpiralFunction()

template<typename T , int M>
virtual adore::mad::LSpiralFunction< T, M >::~LSpiralFunction ( )
inlinevirtual

◆ LSpiralFunction() [3/5]

template<typename T , int M>
adore::mad::LSpiralFunction< T, M >::LSpiralFunction ( T  S,
T  X0,
T  Y0,
T  ds,
const adoreMatrix< T, 1, M+2 > &  p0 
)
inline

instantiate spiral using initial parameter vector p0=[psi0,kappa0,dkappa0,ddkappa0,....] sample the spiral at fixed distance ds

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◆ LSpiralFunction() [4/5]

template<typename T , int M>
adore::mad::LSpiralFunction< T, M >::LSpiralFunction ( T  S,
T  X0,
T  Y0,
T  kappa_max,
T  emax,
const adoreMatrix< T, 1, M+2 > &  p0 
)
inline

instantiate spiral using initial parameter vector p0=[psi0,kappa0,dkappa0,ddkappa0,....] compute step size based on kappa_max and max admissible error

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◆ LSpiralFunction() [5/5]

template<typename T , int M>
adore::mad::LSpiralFunction< T, M >::LSpiralFunction ( T  S,
T  X0,
T  Y0,
T  PSI0,
T  kappa0,
T  kappa1,
T  emax 
)
inline

instantiate spiral of order 1

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Member Function Documentation

◆ add()

template<typename T , int M>
virtual void adore::mad::LSpiralFunction< T, M >::add ( adoreMatrix< T, 0, 1 >  b,
int  rowi,
int  rowj 
)
inlinevirtual

apply operation to function subdimensions: add a vector to rowi to rowj

Implements adore::mad::AScalarToN< T, 2 >.

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◆ bound()

template<typename T , int M>
virtual void adore::mad::LSpiralFunction< T, M >::bound ( const T &  xmin,
const T &  xmax,
adoreMatrix< T, 2, 1 > &  ymin,
adoreMatrix< T, 2, 1 > &  ymax 
)
inlineoverridevirtual
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◆ clone()

template<typename T , int M>
virtual ALFunction<T, adoreMatrix<T, 2, 1> >* adore::mad::LSpiralFunction< T, M >::clone ( )
inlineoverridevirtual

create a copy of child class object - is used for function operations

Implements adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >.

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◆ create_derivative()

template<typename T , int M>
virtual ALFunction<T, adoreMatrix<T, 2, 1> >* adore::mad::LSpiralFunction< T, M >::create_derivative ( )
inlineoverridevirtual

create a new function object, which is the derivative function

Implements adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >.

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◆ create_heading()

template<typename T , int M>
virtual ALFunction<T, T>* adore::mad::LSpiralFunction< T, M >::create_heading ( )
inlinevirtual

returns pointer to heading function, which is M+1 times differentiable instead of maintaining one instance of heading, the heading function is created each time anew, as the heading may change according to rotate operations on spiral

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◆ dimension()

template<typename T , int M>
virtual ALFunction<T, T>* adore::mad::LSpiralFunction< T, M >::dimension ( int  i)
inlineoverridevirtual

gives access to a scalar sub-function. does not create a new object, so use clone() to get your own instance of the subfunction.

Implements adore::mad::AScalarToN< T, 2 >.

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◆ f()

template<typename T , int M>
virtual adoreMatrix<T, 2, 1> adore::mad::LSpiralFunction< T, M >::f ( T  x) const
inlineoverridevirtual

function evaluation returns y of codomain type CT for a value x of domain type DT

Implements adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >.

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◆ fi()

template<typename T , int M>
virtual T adore::mad::LSpiralFunction< T, M >::fi ( T  x,
int  dim 
) const
inlineoverridevirtual

scalar evaluation of function: for y-component dim

Implements adore::mad::AScalarToN< T, 2 >.

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◆ limitHi()

template<typename T , int M>
virtual T adore::mad::LSpiralFunction< T, M >::limitHi ( ) const
inlineoverridevirtual

query upper limit of the domain

Implements adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >.

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◆ limitLo()

template<typename T , int M>
virtual T adore::mad::LSpiralFunction< T, M >::limitLo ( ) const
inlineoverridevirtual

lower limit of the domain

Implements adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >.

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◆ multiply()

template<typename T , int M>
virtual void adore::mad::LSpiralFunction< T, M >::multiply ( adoreMatrix< T, 0, 0 >  A,
int  rowi,
int  rowj 
)
inlinevirtual

apply operation to function sub-dimensions: multiply with matrix of lower dimension in range rowi to rowj, with A.nc==A.nr==rowj-rowi+1

Implements adore::mad::AScalarToN< T, 2 >.

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◆ setLimits()

template<typename T , int M>
virtual void adore::mad::LSpiralFunction< T, M >::setLimits ( T  lo,
T  hi 
)
inlineoverridevirtual

reduce or increase the limit of the function, without changing y

Implements adore::mad::ALFunction< T, adoreMatrix< T, N, 1 > >.

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Member Data Documentation

◆ m_linear_data

template<typename T , int M>
LLinearPiecewiseFunctionM<T, 3 + M + 1>* adore::mad::LSpiralFunction< T, M >::m_linear_data
The documentation for this class was generated from the following file: