state_handling Namespace Reference

Various operations on the vector of states. More...

Functions
void	tilde_to_bar (const double sinA, const double cosA, double *state)
	Converts state from X_tilde to X_bar.
void	bar_to_tilde (const double sinA, const double cosA, double *state)
	Converts state from X_tilde to X_bar.
void	tilde_to_orig (const double h, double *state)
	Converts state from X_tilde to original variables.
void	orig_to_tilde (const double h, double *state)
	Converts state from original variables to X_tilde.
void	get_state_tilde (const problem_parameters &sp, const double *X, const int ind, double *state)
	Returns the next state as X_tilde.
void	get_state (const problem_parameters &sp, const double *X, const int ind, double *state)
	Returns the next state represented by original variables.
void	get_controls (const int preview_window_size, const double *X, const int ind, double *controls)
	Returns the controls,that must be applied to reach the next state.

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Detailed Description

Various operations on the vector of states.

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Function Documentation

void state_handling::bar_to_tilde	(	const double	sinA,
		const double	cosA,
		double *	state
	)

Converts state from X_tilde to X_bar.

Parameters:

[in]	sinA	sin of the rotation angle.
[in]	cosA	cos of the rotation angle.
[in,out]	state	the state (X_bar).

Definition at line 44 of file state_handling.cpp.

void state_handling::get_controls	(	const int	preview_window_size,
		const double *	X,
		const int	ind,
		double *	controls
	)

Returns the controls,that must be applied to reach the next state.

Parameters:

[in]	preview_window_size	size of the preview window
[in]	X	a solution
[in]	ind	index of the state.
[in,out]	controls	the controls (2 double values)

Definition at line 138 of file state_handling.cpp.

void state_handling::get_state	(	const problem_parameters &	sp,
		const double *	X,
		const int	ind,
		double *	state
	)

Returns the next state represented by original variables.

Parameters:

[in]	sp	parameters.
[in]	X	a solution.
[in]	ind	index of the state.
[in,out]	state	the state (SMPC_NUM_STATE_VAR elements).

Definition at line 114 of file state_handling.cpp.

void state_handling::get_state_tilde	(	const problem_parameters &	sp,
		const double *	X,
		const int	ind,
		double *	state
	)

Returns the next state as X_tilde.

Parameters:

[in]	sp	parameters.
[in]	X	a solution.
[in]	ind	index of the state.
[in,out]	state	the state (SMPC_NUM_STATE_VAR elements).

Definition at line 85 of file state_handling.cpp.

void state_handling::orig_to_tilde	(	const double	h,
		double *	state
	)

Converts state from original variables to X_tilde.

Parameters:

[in]	h	hCoM/gravity.
[in,out]	state	the state (position, velocity and acceleration of CoM).

Definition at line 70 of file state_handling.cpp.

void state_handling::tilde_to_bar	(	const double	sinA,
		const double	cosA,
		double *	state
	)

Converts state from X_tilde to X_bar.

Parameters:

[in]	sinA	sin of the rotation angle.
[in]	cosA	cos of the rotation angle.
[in,out]	state	the state (X_tilde).

Definition at line 30 of file state_handling.cpp.

void state_handling::tilde_to_orig	(	const double	h,
		double *	state
	)

Converts state from X_tilde to original variables.

Parameters:

[in]	h	hCoM/gravity.
[in,out]	state	the state (X_tilde).

Definition at line 58 of file state_handling.cpp.