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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<li class="navelem"><b>integrator_chains</b></li><li class="navelem"><a class="el" href="classintegrator__chains_1_1Problem.html">Problem</a></li> </ul>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">integrator_chains::Problem Class Reference<div class="ingroups"><a class="el" href="group__integrator__chains.html">Problem domain: Scaling chains of integrators</a></div></div> </div>
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<p>Representation of problem instances.
<a href="classintegrator__chains_1_1Problem.html#details">More...</a></p>
<p><code>#include <problem.hpp></code></p>
<div class="dynheader">
Collaboration diagram for integrator_chains::Problem:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a1deac2d123c67e047eaddda076f753bc"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1deac2d123c67e047eaddda076f753bc"></a>
bool </td><td class="memItemRight" valign="bottom"><b>change_order</b> (int new_numdim_output, int new_highest_order_deriv)</td></tr>
<tr class="separator:a1deac2d123c67e047eaddda076f753bc"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:add38815451f459102941bb1d86495606"><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classintegrator__chains_1_1Problem.html#add38815451f459102941bb1d86495606">dumpJSON</a> () const </td></tr>
<tr class="memdesc:add38815451f459102941bb1d86495606"><td class="mdescLeft"> </td><td class="mdescRight">Get description of problem in JSON. <a href="#add38815451f459102941bb1d86495606">More...</a><br /></td></tr>
<tr class="separator:add38815451f459102941bb1d86495606"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a738d86a4ef84cc8abd69519856a96c11"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a738d86a4ef84cc8abd69519856a96c11"></a>
int </td><td class="memItemRight" valign="bottom"><b>get_highest_order_deriv</b> () const </td></tr>
<tr class="separator:a738d86a4ef84cc8abd69519856a96c11"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a62f843ea0b807464bd9eea9ac9421fb2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a62f843ea0b807464bd9eea9ac9421fb2"></a>
int </td><td class="memItemRight" valign="bottom"><b>get_numdim_output</b> () const </td></tr>
<tr class="separator:a62f843ea0b807464bd9eea9ac9421fb2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:adee7faa7602d77e104b6953dea66d5cd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adee7faa7602d77e104b6953dea66d5cd"></a>
bool </td><td class="memItemRight" valign="bottom"><b>is_consistent</b> () const </td></tr>
<tr class="separator:adee7faa7602d77e104b6953dea66d5cd"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9fb162720a03b7823ec9391148a23c5a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classintegrator__chains_1_1Problem.html#a9fb162720a03b7823ec9391148a23c5a">to_formula</a> (std::ostream &out) const </td></tr>
<tr class="memdesc:a9fb162720a03b7823ec9391148a23c5a"><td class="mdescLeft"> </td><td class="mdescRight">Create formula using SPIN LTL syntax <a href="http://spinroot.com/spin/Man/ltl.html">http://spinroot.com/spin/Man/ltl.html</a>. <a href="#a9fb162720a03b7823ec9391148a23c5a">More...</a><br /></td></tr>
<tr class="separator:a9fb162720a03b7823ec9391148a23c5a"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:adf7d9965ed485a593be01cfbb0c446ad"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classintegrator__chains_1_1Problem.html">Problem</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classintegrator__chains_1_1Problem.html#adf7d9965ed485a593be01cfbb0c446ad">random</a> (const Eigen::Vector2i &numdim_output_bounds, const Eigen::Vector2i &highest_order_deriv_bounds, const Eigen::VectorXd &Y_box, const Eigen::VectorXd &U_box, const Eigen::Vector2i &number_goals_bounds, const Eigen::Vector2i &number_obstacles_bounds, const Eigen::Vector2d &period_bounds, const Eigen::VectorXd &Xinit_bounds=Eigen::VectorXd())</td></tr>
<tr class="memdesc:adf7d9965ed485a593be01cfbb0c446ad"><td class="mdescLeft"> </td><td class="mdescRight">Generate a random problem instance. <a href="#adf7d9965ed485a593be01cfbb0c446ad">More...</a><br /></td></tr>
<tr class="separator:adf7d9965ed485a593be01cfbb0c446ad"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a64860f6db3013a0f1546d284c95027b0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a64860f6db3013a0f1546d284c95027b0"></a>
std::vector< <a class="el" href="classintegrator__chains_1_1LabeledPolytope.html">LabeledPolytope</a> * > </td><td class="memItemRight" valign="bottom"><b>goals</b></td></tr>
<tr class="separator:a64860f6db3013a0f1546d284c95027b0"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab8018a82d0848d1bf51267b047660da2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab8018a82d0848d1bf51267b047660da2"></a>
std::vector< <a class="el" href="classintegrator__chains_1_1LabeledPolytope.html">LabeledPolytope</a> * > </td><td class="memItemRight" valign="bottom"><b>obstacles</b></td></tr>
<tr class="separator:ab8018a82d0848d1bf51267b047660da2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a18ec5b8f2f45c40afc17c498f1db256e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a18ec5b8f2f45c40afc17c498f1db256e"></a>
double </td><td class="memItemRight" valign="bottom"><b>period</b></td></tr>
<tr class="separator:a18ec5b8f2f45c40afc17c498f1db256e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af9b4979ed976f9590a75f5042705daa7"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af9b4979ed976f9590a75f5042705daa7"></a>
<a class="el" href="classintegrator__chains_1_1Polytope.html">Polytope</a> * </td><td class="memItemRight" valign="bottom"><b>U</b></td></tr>
<tr class="separator:af9b4979ed976f9590a75f5042705daa7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab384932cc044526ed7f1ab53edf38a94"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab384932cc044526ed7f1ab53edf38a94"></a>
Eigen::VectorXd </td><td class="memItemRight" valign="bottom"><b>Xinit</b></td></tr>
<tr class="separator:ab384932cc044526ed7f1ab53edf38a94"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2419c6905848721b9971bd39d5cf5caa"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2419c6905848721b9971bd39d5cf5caa"></a>
<a class="el" href="classintegrator__chains_1_1Polytope.html">Polytope</a> * </td><td class="memItemRight" valign="bottom"><b>Y</b></td></tr>
<tr class="separator:a2419c6905848721b9971bd39d5cf5caa"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
Friends</h2></td></tr>
<tr class="memitem:a348ed536e70994ce1210aaf9bddae8c3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a348ed536e70994ce1210aaf9bddae8c3"></a>
std::ostream & </td><td class="memItemRight" valign="bottom"><a class="el" href="classintegrator__chains_1_1Problem.html#a348ed536e70994ce1210aaf9bddae8c3">operator<<</a> (std::ostream &out, const <a class="el" href="classintegrator__chains_1_1Problem.html">Problem</a> &prob)</td></tr>
<tr class="memdesc:a348ed536e70994ce1210aaf9bddae8c3"><td class="mdescLeft"> </td><td class="mdescRight">Output description of problem in JSON to a stream. <br /></td></tr>
<tr class="separator:a348ed536e70994ce1210aaf9bddae8c3"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Representation of problem instances. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="add38815451f459102941bb1d86495606"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">std::string integrator_chains::Problem::dumpJSON </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Get description of problem in JSON. </p>
</div>
</div>
<a class="anchor" id="adf7d9965ed485a593be01cfbb0c446ad"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classintegrator__chains_1_1Problem.html">Problem</a> * integrator_chains::Problem::random </td>
<td>(</td>
<td class="paramtype">const Eigen::Vector2i & </td>
<td class="paramname"><em>numdim_output_bounds</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::Vector2i & </td>
<td class="paramname"><em>highest_order_deriv_bounds</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::VectorXd & </td>
<td class="paramname"><em>Y_box</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::VectorXd & </td>
<td class="paramname"><em>U_box</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::Vector2i & </td>
<td class="paramname"><em>number_goals_bounds</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::Vector2i & </td>
<td class="paramname"><em>number_obstacles_bounds</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::Vector2d & </td>
<td class="paramname"><em>period_bounds</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::VectorXd & </td>
<td class="paramname"><em>Xinit_bounds</em> = <code>Eigen::VectorXd()</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Generate a random problem instance. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">numdim_output_bounds</td><td>range of integers from which the dimension of the output space will be chosen.</td></tr>
<tr><td class="paramname">highest_order_deriv_bounds</td><td>range of integers from which the order of derivation (i.e., the number of integrators in the ODE defining the system) will be chosen.</td></tr>
<tr><td class="paramname">Y_box</td><td>the compact subset of the output space in which the trajectory must remain, defined using the same format as for <a class="el" href="classintegrator__chains_1_1Polytope.html#abff875e8e5dd02c149b003fe24b34664" title="Construct Polytope that is an axis-aligned rectangle. ">Polytope::box()</a>. Unlike most other parameters of this method, <code>Y_box</code> is not a definition of the support of a probability density function. However, the number of elements in it that are actually used depends on the randomly chosen number of dimensions of the output space.</td></tr>
<tr><td class="paramname">U_box</td><td>analogous to <code>Y_box</code> but for the input space.</td></tr>
<tr><td class="paramname">number_goals_bounds</td><td>range of integers from which the number of goal polytopes in the output space will be chosen.</td></tr>
<tr><td class="paramname">number_obstacles_bounds</td><td>analogous to <code>number_goals_bounds</code> but for obstacles.</td></tr>
<tr><td class="paramname">period_bounds</td><td>range from which is uniformly randomly chosen the constant period by which the original system is discretized.</td></tr>
<tr><td class="paramname">Xinit_bounds</td><td>(optional) the box from which the initial state will be chosen. It is assumed to be consistent with <code>Y_box</code>. Bounds for missing dimensions are assumed to be [0,0], i.e., Xinit is assigned 0.0 at the corresponding indices. E.g., if Xinit_bounds has size 0 or is not given, then Xinit is the origin of the state space.</td></tr>
</table>
</dd>
</dl>
<p>N.B., several parameters depend on each other in terms of consistency. E.g., if <code>numdim_output_bounds</code> = [2, 3], then Y_box must have length of at least 6 (cf. documentation for <a class="el" href="classintegrator__chains_1_1Polytope.html#abff875e8e5dd02c149b003fe24b34664" title="Construct Polytope that is an axis-aligned rectangle. ">Polytope::box()</a>).</p>
<p>This method relies on rand() for pseudo-randomness and assumes that something else has seeded the RNG. </p>
</div>
</div>
<a class="anchor" id="a9fb162720a03b7823ec9391148a23c5a"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void integrator_chains::Problem::to_formula </td>
<td>(</td>
<td class="paramtype">std::ostream & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div><div class="memdoc">
<p>Create formula using SPIN LTL syntax <a href="http://spinroot.com/spin/Man/ltl.html">http://spinroot.com/spin/Man/ltl.html</a>. </p>
<p>Support for other syntax is coming soon. </p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>integrator_chains/dynamaestro/include/problem.hpp</li>
</ul>
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</a> 1.8.8
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