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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <cmath>
#include <ignition/plugin/Register.hh>
#include "integrators.hh"
namespace ignition {
namespace plugin {
namespace examples {
namespace PolynomialODE {
/// \brief Create a simple parabola, like an object falling under the influence
/// of gravity.
ODESystem CreateParabolicODE(
const double t0 = 0.0,
const double p0 = 0.0,
const double v0=1.0,
const double a=2.0)
{
ODESystem parabola;
parabola.name = "parabolic ode";
parabola.initialTime = t0;
parabola.exact = [=](const NumericalIntegrator::Time _t)
-> NumericalIntegrator::State
{
return {0.5*a*std::pow(_t+t0, 2) + v0*(_t+t0) + p0};
};
parabola.initialState = parabola.exact(t0);
parabola.ode = [=](const NumericalIntegrator::Time _t,
const NumericalIntegrator::State & /*_state*/)
-> NumericalIntegrator::State
{
return {a*(_t+t0) + v0};
};
return parabola;
}
/// \brief Create a parabolic system of equations. Similar to the ParabolicODE,
/// except this is expressed as a system instead of a single function of time.
ODESystem CreateParabolicSystem(
const double t0 = 0.0,
const double p0 = 0.0,
const double v0=1.0,
const double a=2.0)
{
ODESystem parabola;
parabola.name = "parabolic system";
parabola.initialTime = t0;
parabola.exact = [=](const NumericalIntegrator::Time _t)
-> NumericalIntegrator::State
{
return { 0.5*a*std::pow(_t+t0, 2) + v0*(_t+t0) + p0,
a*std::pow(_t+t0, 1) + v0 };
};
parabola.initialState = parabola.exact(t0);
parabola.ode = [=](const NumericalIntegrator::Time /*_t*/,
const NumericalIntegrator::State & _state)
-> NumericalIntegrator::State
{
return {_state[1], a};
};
return parabola;
}
/// \brief Create a cubic trajectory, like a car whose level acceleration is
/// linearly increasing.
ODESystem CreateCubicODE(
const double t0 = 0.0,
const double p0 = 1.0,
const double v0 = 2.0,
const double a0 = 3.0,
const double jerk = 4.0)
{
ODESystem cubic;
cubic.name = "cubic ode";
cubic.initialTime = t0;
cubic.exact = [=](const NumericalIntegrator::Time _t)
-> NumericalIntegrator::State
{
return { 1.0/6.0*jerk*std::pow(_t+t0, 3)
+ 1.0/2.0*a0*std::pow(_t+t0, 2)
+ v0*std::pow(_t+t0, 1)
+ p0*std::pow(_t+t0, 0) };
};
cubic.initialState = cubic.exact(t0);
cubic.ode = [=](const NumericalIntegrator::Time _t,
const NumericalIntegrator::State & /*_state*/)
-> NumericalIntegrator::State
{
return { 1.0/2.0*jerk*std::pow(_t+t0, 2)
+ a0*std::pow(_t+t0, 1)
+ v0*std::pow(_t+t0, 0) };
};
return cubic;
}
/// \brief Create a cubic system of equations. Similar to the CubicODE, except
/// this is expressed as a system instead of a single function of time.
ODESystem CreateCubicSystem(
const double t0 = 0.0,
const double p0 = 1.0,
const double v0 = 2.0,
const double a0 = 3.0,
const double jerk = 4.0)
{
ODESystem cubic;
cubic.name = "cubic system";
cubic.initialTime = t0;
cubic.exact = [=](const NumericalIntegrator::Time _t)
-> NumericalIntegrator::State
{
return { 1.0/6.0*jerk*std::pow(_t+t0, 3)
+ 1.0/2.0*a0*std::pow(_t+t0, 2)
+ v0*std::pow(_t+t0, 1)
+ p0*std::pow(_t+t0, 0)
,
1.0/2.0*jerk*std::pow(_t+t0, 2)
+ a0*std::pow(_t+t0, 1)
+ v0*std::pow(_t+t0, 0)
,
jerk*std::pow(_t+t0, 1)
+ a0*std::pow(_t+t0, 0) };
};
cubic.initialState = cubic.exact(t0);
cubic.ode = [=](const NumericalIntegrator::Time /*_t*/,
const NumericalIntegrator::State &_state)
-> NumericalIntegrator::State
{
return { _state[1], _state[2], jerk };
};
return cubic;
}
/// \brief A factory that provides the parabolic ODE systems
class ParabolicFactory : public ODESystemFactory
{
// Documentation inherited
public: std::vector<ODESystem> CreateSystems() override
{
return {
CreateParabolicODE(),
CreateParabolicSystem()
};
}
};
/// \brief A factory that provides cubic ODE systems
class CubicFactory : public ODESystemFactory
{
// Documentation inherited
public: std::vector<ODESystem> CreateSystems() override
{
return {
CreateCubicODE(),
CreateCubicSystem()
};
}
};
}
}
}
}
// Register multiple plugins for this library
IGNITION_ADD_PLUGIN(
ignition::plugin::examples::PolynomialODE::ParabolicFactory,
ignition::plugin::examples::ODESystemFactory)
IGNITION_ADD_PLUGIN(
ignition::plugin::examples::PolynomialODE::CubicFactory,
ignition::plugin::examples::ODESystemFactory)
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