InverseArcLengthIntegrator Class Reference

Detailed Description

Wraps maliput::drake::systems::ScalarInitialValueProblem<double> by using a pImpl.

This convenient class helps to compute the inverse of an arc length integral of the world function given its arc length and returns either corresponding parameter or a function that helps with multiple queries and return the parameter. This class does not expose any drake / eigen specific type, which serves as a useful interface for the future. Backends can rely on linking against this library only and private linkage will solve any required dependency.

#include <include/maliput/drake/inverse_arc_length_integrator.h>

Public Types
using	ScalarOdeFunction = std::function< double(const double &s, const double &p, const math::Vector2 &k)>
	Type alias for the scalar ODE dx/dt = f(t, x; 𝐤) function type. More...

Public Member Functions
	MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN (InverseArcLengthIntegrator)
	InverseArcLengthIntegrator (const ScalarOdeFunction &function, const IntegratorConfiguration &config)
	Constructs an InverseArcLengthIntegrator. More...
	~InverseArcLengthIntegrator ()
double	Evaluate (double s, const math::Vector2 &k) const
	Evaluates the inverse arc length at s and with context k. More...
std::function< double(double)>	InverseFunction (double s0, double s1, const math::Vector2 &k, double tolerance, double epsilon=0.0) const
	Computes a functor that can be used for sucessive queries at different p parameter values of the arc length. More...

Member Typedef Documentation

ScalarOdeFunction

using ScalarOdeFunction = std::function<double(const double& s, const double& p, const math::Vector2& k)>

Type alias for the scalar ODE dx/dt = f(t, x; 𝐤) function type.

Parameters

s	The independent variable s ∈ ℝ , i.e. the arc length.
p	The dependent variable p ∈ ℝ , i.e. the parameter.
k	The parameter vector 𝐤 ∈ ℝ² .

Returns

The derivative dp/ds ∈ ℝ.

Constructor & Destructor Documentation

InverseArcLengthIntegrator()

InverseArcLengthIntegrator	(	const ScalarOdeFunction &	function,
		const IntegratorConfiguration &	config
	)

Constructs an InverseArcLengthIntegrator.

Parameters

function	A functor with the ScalarOdeFunction.
config	A IntegratorConfiguration with the initial state of the integrator and its configurations.

~InverseArcLengthIntegrator()

~InverseArcLengthIntegrator ( )

default

Member Function Documentation

Evaluate()

double Evaluate	(	double	s,
		const math::Vector2 &	k
	)		const

Evaluates the inverse arc length at s and with context k.

Parameters

s	The arc length of the scalar ODE function.
k	The context of the function.

Returns

The parameter of thefunction.

InverseFunction()

std::function< double(double)> InverseFunction	(	double	s0,
		double	s1,
		const math::Vector2 &	k,
		double	tolerance,
		double	epsilon = 0.0
	)		const

Computes a functor that can be used for sucessive queries at different p parameter values of the arc length.

Parameters

p0	The start of the integration domain.
p1	The end of the integration domain.
p1	The context k of the integration domain.
tolerance	The absolute tolerance to determine whether the used p parameter is within range [p0, p1].
epsilon	Sometimes, due to numerical errors, consumers need to constraint the extent of the computed values. This variables shrinks s1. Default is 0.0.

Returns

A std::function that converts an arc length value into the original function parameter that produced it.

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN()

MALIPUT_NO_COPY_NO_MOVE_NO_ASSIGN

(

InverseArcLengthIntegrator

)

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The documentation for this class was generated from the following files:

• inverse_arc_length_integrator.h
• inverse_arc_length_integrator.cc