Module: extendedStateVector

Typedefs

using ExtendedStateId = std::pair<size_t, std::string>: Because two different DynamicObjects can have states with the same name, ExtendedStateId is used to give a unique identifier to every state. The first item is the index of the DynamicObject in the integrator’s dynPtrs vector. The second item in the pair is the name of the state.

struct ExtendedStateIdHash

#include <extendedStateVector.h>

ExtendedStateIdHash is required to make ExtendedStateId hashable (usable as a key in a map)

Public Functions

inline std::size_t operator()(const ExtendedStateId &p) const: Generates a hash value (integer) from an ExtendedStateId object

class ExtendedStateVector : public std::unordered_map<ExtendedStateId, Eigen::MatrixXd, ExtendedStateIdHash>

#include <extendedStateVector.h>

Conceptually similar to StateVector, this class allows us to handle the states of multiple DynamicObject with a single object.

It also supports several utility functions.

Public Functions

ExtendedStateVector map(std::function<Eigen::MatrixXd(const size_t&, const std::string&, const Eigen::MatrixXd&)> functor) const: This method will call the given std::function for every state in the ExtendedStateVector. The arguments to the functor are the index of the DynamicObject corresponding to the state, the name of the state, and the value of the state stored in ExtendedStateVector. A new ExtendedStateVector is built from the results of each call of the functor.

void apply(std::function<void(const size_t&, const std::string&, const Eigen::MatrixXd&)> functor) const: Similar to the map method, except that no ExtendedStateVector is returned because the given functor does not produce any values.

void modify(std::function<void(const size_t&, const std::string&, Eigen::MatrixXd&)> functor): Modifies each Eigen::MatrixXd stored in this object according to the given functor

Adds the values of rhs to this

This functions as a state-wise addition operation.

ExtendedStateVector operator*(const double rhs) const: Returns a new ExtendedStateVector that is the result of multiplying each state by a constant

void setStates(std::vector<DynamicObject*> &dynPtrs) const: Calls StateData::setState for every entry in in this

Public Static Functions

static ExtendedStateVector fromStates(const std::vector<DynamicObject*> &dynPtrs): Builds a ExtendedStateVector from all states in the given dynamic objects

static ExtendedStateVector fromStateDerivs(const std::vector<DynamicObject*> &dynPtrs): Builds a ExtendedStateVector from the derivatives of all states in the given dynamic objects

Private Static Functions

static ExtendedStateVector fromStateData(const std::vector<DynamicObject*> &dynPtrs, std::function<Eigen::MatrixXd(const StateData&)>)