Class jalansim::dynamics::Dynamics

template <typename T, class Model>

ClassList > jalansim > dynamics > Dynamics

Generic dynamics simulation class. More...

• #include <dynamics.hpp>

Public Attributes

Type	Name
Model	model Dynamics model instance.
T	x = {} Current state vector.

Public Static Attributes

Type	Name
std::size_t	INPUT_DIM = Model::INPUT\_DIM Dimension of input vector.
std::size_t	STATE_DIM = Model::STATE\_DIM Dimension of state vector.

Public Functions

Type	Name
JALANSIM_HOST_DEVICE T	get_theta () const Get orientation angle (assumes state[2] is theta).
JALANSIM_HOST_DEVICE T	get_x () const Get X coordinate (assumes state[0] is X position).
JALANSIM_HOST_DEVICE T	get_y () const Get Y coordinate (assumes state[1] is Y position).
JALANSIM_HOST_DEVICE void	reset () Reset the system to its initial state.
JALANSIM_HOST_DEVICE void	step (const T * u, T dt, Scheme s=Scheme::RK4) Advance the system state by one time step.

Detailed Description

Manages the state evolution of a dynamical system using configurable integration schemes. Wraps a dynamics model and provides numerical integration methods (Euler, RK4) to advance the system state over time. Assumes the first three state variables are [x, y, theta] for 2D systems.

Template parameters:

• T Numeric type (float, double)
• Model Dynamics model class defining state evolution

Public Attributes Documentation

variable model

Dynamics model instance.

Model jalansim::dynamics::Dynamics< T, Model >::model;

---

variable x

Current state vector.

T jalansim::dynamics::Dynamics< T, Model >::x[STATE_DIM];

---

Public Static Attributes Documentation

variable INPUT_DIM

Dimension of input vector.

std::size_t jalansim::dynamics::Dynamics< T, Model >::INPUT_DIM;

---

variable STATE_DIM

Dimension of state vector.

std::size_t jalansim::dynamics::Dynamics< T, Model >::STATE_DIM;

---

Public Functions Documentation

function get_theta

Get orientation angle (assumes state[2] is theta).

inline JALANSIM_HOST_DEVICE T jalansim::dynamics::Dynamics::get_theta () const

Returns:

Current orientation angle in radians

---

function get_x

Get X coordinate (assumes state[0] is X position).

inline JALANSIM_HOST_DEVICE T jalansim::dynamics::Dynamics::get_x () const

Returns:

Current X coordinate

---

function get_y

Get Y coordinate (assumes state[1] is Y position).

inline JALANSIM_HOST_DEVICE T jalansim::dynamics::Dynamics::get_y () const

Returns:

Current Y coordinate

---

function reset

Reset the system to its initial state.

inline JALANSIM_HOST_DEVICE void jalansim::dynamics::Dynamics::reset () 

Sets all state variables to zero and calls the model's reset method. Used to reinitialize the system for new simulations.

---

function step

Advance the system state by one time step.

inline JALANSIM_HOST_DEVICE void jalansim::dynamics::Dynamics::step (
    const T * u,
    T dt,
    Scheme s=Scheme::RK4
) 

Parameters:

• u Input/control vector
• dt Time step size
• s Integration scheme to use (default: RK4)

---

---

The documentation for this class was generated from the following file include/jalansim/dynamics/dynamics.hpp