コンテンツにスキップ

cpp_robotics

Namespaces

Name
cpp_robotics::constants
数学・物理定数
cpp_robotics::grid_path_planning_utils
グリッドパスプランニング用関数・クラス郡
cpp_robotics::internal
cpp_robotics::unit::prefix
cpp_robotics::unit::tag
cpp_robotics::unit
単位系
cpp_robotics::unit_dimention

Classes

Name
class cpp_robotics::ADVector
class cpp_robotics::KMeansMethod
K-means法
class cpp_robotics::KDTree
k-d木
class cpp_robotics::ArmKinematics
class cpp_robotics::ArmForwardKinematics
class cpp_robotics::ArmForwardKinematicsWithPose
class cpp_robotics::ArmInverseKinematics
class cpp_robotics::XY2LinkRobot
class cpp_robotics::MecanumIk
メカナムの逆運動学モデル
class cpp_robotics::Omni3Ik
3輪オムニの逆運動学モデル
class cpp_robotics::Omni4Ik
4輪オムニの逆運動学モデル
class cpp_robotics::SwerveIk
メカナムの逆運動学モデル
struct cpp_robotics::ALConfig
class cpp_robotics::ALiLQR
struct cpp_robotics::iLQRConfig
class cpp_robotics::iLQR
class cpp_robotics::LinearMPC
線形時不変モデルのモデル予測制御クラス
class cpp_robotics::LinearRegulatorMPC
class cpp_robotics::NctfController
NCTF制御器
class cpp_robotics::OCPConstraint
class cpp_robotics::OCPConstraintArray
class cpp_robotics::OCPFunctionalConstraint
class cpp_robotics::OCPInputIndexedBoundConstraint
class cpp_robotics::OCPStateIndexedBoundConstraint
class cpp_robotics::OCPCost
class cpp_robotics::OCPCostQuadratic
class cpp_robotics::OCPCostServoQuadratic
class cpp_robotics::OCPDynamics
class cpp_robotics::OCPDiscreteLinearDynamics
class cpp_robotics::OCPContinuousLinearDynamics
class cpp_robotics::OCPDiscreteNonlinearDynamics
class cpp_robotics::OCPContinuousNonlinearDynamics
class cpp_robotics::OCPContinuousNonlinearDynamicsAD
class cpp_robotics::OptimalControlProblem
class cpp_robotics::SISOPFC
class cpp_robotics::PID
PID制御器
class cpp_robotics::PID2
2自由度PID制御器
class cpp_robotics::PSMC
class cpp_robotics::PurePursuit
Pure pursuit制御器
class cpp_robotics::AccelerationLimitFilter
加速度制限フィルタ(速度制限込み)
class cpp_robotics::BandPassFilter
バンドパスフィルタ
class cpp_robotics::ButterworthFilter
バターワースフィルタ
class cpp_robotics::DelayFilter
遅延フィルタ
class cpp_robotics::Differentiator
疑似微分器
class cpp_robotics::ExtendedKalmanFilter
class cpp_robotics::FilterStateHolder
フィルタの入力と計算を非同期にして最後の入力と出力を保持しておけるようにするクラス
class cpp_robotics::HighPassFilter
ハイパスフィルタ
class cpp_robotics::Integrator
積分器
class cpp_robotics::KalmanFilter
カルマンフィルタ
class cpp_robotics::LowPassFilter
ローパスフィルター
class cpp_robotics::NotchFilter
ノッチフィルタ
class cpp_robotics::VelocityLimitFilter
速度制限フィルタ
struct cpp_robotics::Line
直線クラス
struct cpp_robotics::Quad
四角形クラス
struct cpp_robotics::Rect
長方形クラス(回転は考えない)
struct cpp_robotics::Triangle
三角形クラス
struct cpp_robotics::Circle
円クラス
struct cpp_robotics::DCMotorParam
DCモーターモデル
struct cpp_robotics::GearHeadParam
ギアヘッドモデル
struct cpp_robotics::DCGearedMotorParam
ギアヘッド付きDCモーターモデル
struct cpp_robotics::Constraint
数理最適問題に使用する制約クラス
class cpp_robotics::ConstraintArray
数理最適化問題の制約の集合
struct cpp_robotics::QuadProgProblem
class cpp_robotics::QuadProg
線形等式制約と線形不等式制約を持つ2次計画法
class cpp_robotics::SQP
SQP(逐次二次計画法)
class cpp_robotics::DubinsPath
Dubinsパス
struct cpp_robotics::DWAConfig
class cpp_robotics::DWA
struct cpp_robotics::FMTStarConfig
class cpp_robotics::FMTStar
class cpp_robotics::GeometryMap
class cpp_robotics::LinePath
class cpp_robotics::PathPlanningNode
class cpp_robotics::PathPlanningMap
class cpp_robotics::GridMap
GridMap は障害物を格子点の集合で表現するマップ、座標は正の値かつmap_size未満であること
struct cpp_robotics::eigen_spline_api
class cpp_robotics::SplinePathBase
class cpp_robotics::CatumullRomSplinePath
class cpp_robotics::CubicSplinePath
class cpp_robotics::Discret
状態空間モデルを双一次変換で離散化する
class cpp_robotics::DiscretTransferFunction
struct cpp_robotics::Polynomial
多項式
class cpp_robotics::SisoFeedbackSystem
コントローラとシステムからなるSISOのフィードバックシステム
class cpp_robotics::StateSpaceSystem
状態空間モデル
class cpp_robotics::TransferFunction
伝達関数モデル
class cpp_robotics::AngleRange
角度[rad]に対して範囲を指定する 複数の角度の範囲の合成をしたり逆を取ったりできる
class cpp_robotics::RandomGenerator
stdの乱数生成をラップしてこのクラス一つだけ実体化すればいいようにした乱数生成器
class cpp_robotics::Singleton
シングルトンなオブジェクトを生成する
class cpp_robotics::Timer
class cpp_robotics::Quaternion
クォータニオンクラス
struct cpp_robotics::Transform
2次元のロボットの座標を扱うクラス
struct cpp_robotics::Vector2
2次元のベクトル
struct cpp_robotics::Vector3
3次元のベクトル
struct cpp_robotics::Vector4
4次元のベクトル
struct cpp_robotics::UnitType
SI単位系次元定義クラス
struct cpp_robotics::unit::Prefix
単位系接頭辞クラス
class cpp_robotics::unit::Unit
単位クラス

Types

Name
enum class CanonicalizeMode
enum uint8_t OCPConstraintType
enum class OCPIntegrationMethod
enum UnitIndex
template <class DerType =Eigen::VectorXd>
using Eigen::AutoDiffScalar< DerType >		 ADScalar
using ADVector< Eigen::VectorXd, Eigen::Dynamic > ADVectorXd
using std::variant< Vector2d, Line, Quad, Rect, Triangle, Circle > ShapeType
using unit_assem::unit_div< Torque, Ampere >::unit TorqueConstant
using unit_assem::unit_div< Volt, AngularVelocity >::unit BackEmfConstant
using unit_assem::unit_mul< Torque, Second >::unit FrictionConstant
using std::variant< Rect, Circle > ObstacleShapeType
using GridMap< 2 > GridMap2d
using GridMap< 3 > GridMap3d
using GridMap< Eigen::Dynamic > GridMapXd
using CatumullRomSplinePath< Eigen::Vector2d > CatumullRomSplinePath2d
using CatumullRomSplinePath< Eigen::Vector3d > CatumullRomSplinePath3d
using CubicSplinePath< Eigen::Vector2d > CubicSplinePath2d
using CubicSplinePath< Eigen::Vector3d > CubicSplinePath3d
using Unit< double, unit_dimention::second, prefix::none > Second
using Unit< double, unit_dimention::second, prefix::milli > MilliSecond
using Unit< double, unit_dimention::second, prefix::micro > MicroSecond
using Unit< double, unit_dimention::metere, prefix::none > Meter
using Unit< double, unit_dimention::metere, prefix::milli > MilliMeter
using Unit< double, unit_dimention::metere, prefix::micro > MicroMeter
using Unit< double, unit_dimention::metere, prefix::centi > CentiMeter
using Unit< double, unit_dimention::kilogram, prefix::none > KiloGram
using Unit< double, unit_dimention::kilogram, prefix::milli > Gram
using Unit< double, unit_dimention::watt, prefix::none > Watt
using Unit< double, unit_dimention::watt, prefix::kilo > KiloWatt
using Unit< double, unit_dimention::newton, prefix::none > Newton
using Unit< double, unit_dimention::newton, prefix::kilo > KiloNewton
using Unit< double, unit_dimention::pascal, prefix::none > Pascal
using Unit< double, unit_dimention::pascal, prefix::kilo > KiloPascal
using Unit< double, unit_dimention::hertz, prefix::none > Hertz
using Unit< double, unit_dimention::area, prefix::none > Area
using Unit< double, unit_dimention::volume, prefix::none > Volume
using Unit< double, unit_dimention::velocity, prefix::none > Velocity
using Unit< double, unit_dimention::acceleration, prefix::none > Acceleration
using Unit< double, unit_dimention::dencity, prefix::none > Dencity
using Unit< double, unit_dimention::torque, prefix::none > Torque
using Unit< double, unit_dimention::inertia, prefix::none > Inertia
using Unit< double, unit_dimention::ampere, prefix::none > Ampere
using Unit< double, unit_dimention::ampere, prefix::milli > MilliAmpere
using Unit< double, unit_dimention::volt, prefix::none > Volt
using Unit< double, unit_dimention::volt, prefix::milli > MilliVolt
using Unit< double, unit_dimention::ohm, prefix::none > Ohm
using Unit< double, unit_dimention::ohm, prefix::milli > MilliOhm
using Unit< double, unit_dimention::henry, prefix::none > Henry
using Unit< double, unit_dimention::henry, prefix::milli > MilliHenry
using Unit< double, unit_dimention::farad, prefix::none > Farad
using Unit< double, unit_dimention::farad, prefix::milli > MilliFarad
using Unit< double, unit_dimention::farad, prefix::micro > MicroFarad
using Unit< double, unit_dimention::farad, prefix::nano > NanoFarad
using Unit< double, unit_dimention::angle, prefix::none, tag::angle::radian > Radian
using Unit< double, unit_dimention::angle, prefix::none, tag::angle::degree > Degree
using Unit< double, unit_dimention::angular_velocity, prefix::none, tag::angular_vel::rad_per_sec > AngularVelocity
using Unit< double, unit_dimention::angular_velocity, prefix::none, tag::angular_vel::rps > Rps
using Unit< double, unit_dimention::angular_velocity, prefix::none, tag::angular_vel::rpm > Rpm
using Unit< double, unit_dimention::angular_acceleration, prefix::none > AngularAcceleration
using RandomGenerator< std::uniform_int_distribution<> > UniformIntRandomEngine
整数型一様分布乱数生成エンジン
using RandomGenerator< std::uniform_real_distribution<> > UniformRealRandomEngine
実数型一様分布乱数生成エンジン
using RandomGenerator< std::bernoulli_distribution > BernoulliRandomEngine
ベルヌーイ分布乱数生成エンジン
using RandomGenerator< std::binomial_distribution<> > BinomialRandomEngine
二項分布乱数生成エンジン
using RandomGenerator< std::geometric_distribution<> > GeometricRandomEngine
幾何学分布乱数生成エンジン
using RandomGenerator< std::negative_binomial_distribution<> > NegativeBinomialRandomEngine
負の二項分布乱数生成エンジン
using RandomGenerator< std::poisson_distribution<> > PoissonRandomEngine
ポワソン分布乱数生成エンジン
using RandomGenerator< std::exponential_distribution<> > ExponentialRandomEngine
指数分布乱数生成エンジン
using RandomGenerator< std::gamma_distribution<> > GammaRandomEngine
ガンマ分布乱数生成エンジン
using RandomGenerator< std::weibull_distribution<> > WeibullRandomEngine
ワイブル分布乱数生成エンジン
using RandomGenerator< std::extreme_value_distribution<> > ExtremeValueRandomEngine
極値分布乱数生成エンジン
using RandomGenerator< std::normal_distribution<> > NormalRandomEngine
正規分布乱数生成エンジン
using RandomGenerator< std::lognormal_distribution<> > LognormalRandomEngine
対数正規分布乱数生成エンジン
using RandomGenerator< std::chi_squared_distribution<> > ChiSquaredRandomEngine
カイ二乗分布乱数生成エンジン
using RandomGenerator< std::cauchy_distribution<> > CauchyRandomEngine
コーシー分布乱数生成エンジン
using RandomGenerator< std::fisher_f_distribution<> > FisherFRandomEngine
フィッシャーのF分布乱数生成エンジン
using RandomGenerator< std::student_t_distribution<> > StudentTRandomEngine
ステューデントのt分布乱数生成エンジン
using RandomGenerator< std::discrete_distribution<> > DiscreteRandomEngine
整数のインデックスごとに離散した確率分布の乱数生成エンジン
using RandomGenerator< std::piecewise_constant_distribution<> > PiecewiseConstantRandomEngine
区間ごとの重み付けを定数値とした分布の乱数生成エンジン
using RandomGenerator< std::piecewise_linear_distribution<> > PiecewiseLinearRandomEngine
区間ごとの重み付けを線形に接続した分布の乱数生成エンジン
using Quaternion< float > Quaternionf
using Quaternion< double > Quaterniond
using Transform< float > Transformf
using Transform< double > Transformd
using Vector2< float > Vector2f
using Vector2< double > Vector2d
using Vector3< float > Vector3f
using Vector3< double > Vector3d
using Vector4< float > Vector4f
using Vector4< double > Vector4d

Functions

Name
template <int DIM>
std::pair< Eigen::Matrix< double, DIM, DIM >, Eigen::Matrix< double, DIM, 1 > >		 calcu_transformatoin(std::vector< Eigen::Matrix< double, DIM, 1 >> dest, std::vector< Eigen::Matrix< double, DIM, 1 >> fixed)
template <int DIM>
std::tuple< std::vector< Eigen::Matrix< double, DIM, 1 > >, Eigen::MatrixXd, size_t >		 icp(std::vector< Eigen::Matrix< double, DIM, 1 >> dest, const std::vector< Eigen::Matrix< double, DIM, 1 >> & fixed, double eps =1e-4, size_t max_iter =100)
double mahalanobis(const Eigen::VectorXd & a, const Eigen::VectorXd & b, const Eigen::MatrixXd cov_inv)
マハラノビス距離の計算
Polynomial poly_regression(const std::vector< double > & x, const std::vector< double > & y, const size_t degree)
回帰曲線
Eigen::MatrixXd homogeneous(const Eigen::MatrixXd & R, const Eigen::VectorXd & T)
Eigen::VectorXd transform_by_homogeneous(const Eigen::MatrixXd & H, const Eigen::VectorXd & x)
std::optional< Eigen::MatrixXd > solve_riccati_arimoto_potter(const Eigen::MatrixXd & A, const Eigen::MatrixXd & B, const Eigen::MatrixXd & Q, const Eigen::MatrixXd & R)
有本-ポッターの方法によるリカッチ方程式の解法
Eigen::MatrixXd lqr(const Eigen::MatrixXd & A, const Eigen::MatrixXd & B, const Eigen::MatrixXd & Q, const Eigen::MatrixXd & R)
Eigen::MatrixXd controllability_matrix(const Eigen::MatrixXd & A, const Eigen::VectorXd & B)
可制御性行列の計算
bool is_controllable(const Eigen::MatrixXd & A, const Eigen::VectorXd & B)
可制御性の判別
bool is_controllable(const StateSpaceSystem & sys)
Eigen::MatrixXd observability_matrix(const Eigen::MatrixXd & A, const Eigen::RowVectorXd & C)
可観測性行列を計算する
bool is_observable(const Eigen::MatrixXd & A, const Eigen::RowVectorXd & C)
可観測性の判別
bool is_observable(const StateSpaceSystem & sys)
std::tuple< Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd > canonicalize_system(const Eigen::MatrixXd & A, const Eigen::MatrixXd & B, const Eigen::MatrixXd & C, CanonicalizeMode mode =CanonicalizeMode::COMPANION)
同値変換による可制御正準形への変換
std::tuple< Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd > canonicalize_system(const StateSpaceSystem & sys, CanonicalizeMode mode =CanonicalizeMode::COMPANION)
同値変換による可制御正準形への変換
Eigen::VectorXd place(const StateSpaceSystem & sys, std::vector< double > poles)
アッカーマン法によるSISOモデルの極配置
OCPConstraintArray OCPInputBoundConstraints(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, double slope =10.0)
OCPConstraintArray OCPStateBoundConstrants(const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, double slope =10.0)
Eigen::VectorXd vrft_leastsq(const Eigen::VectorXd & u, const Eigen::VectorXd & y, const double Ts, TransferFunction ref_model, std::vector< TransferFunction > & control_base, std::optional< TransferFunction > prefilter)
Eigen::VectorXd vrft_pid(const Eigen::VectorXd & u, const Eigen::VectorXd & y, const double Ts, TransferFunction ref_model, std::optional< TransferFunction > prefilter, double Td =0.01)
Eigen::VectorXd vrft_p(const Eigen::VectorXd & u, const Eigen::VectorXd & y, const double Ts, TransferFunction ref_model, std::optional< TransferFunction > prefilter)
Eigen::VectorXd vrft_pi(const Eigen::VectorXd & u, const Eigen::VectorXd & y, const double Ts, TransferFunction ref_model, std::optional< TransferFunction > prefilter)
Eigen::VectorXd vrft_pd(const Eigen::VectorXd & u, const Eigen::VectorXd & y, const double Ts, TransferFunction ref_model, std::optional< TransferFunction > prefilter, double Td =0.01)
std::ostream & operator<<(std::ostream & os, const Vector2d & v)
std::ostream & operator<<(std::ostream & os, const Vector3d & v)
std::ostream & operator<<(std::ostream & os, const Vector4d & v)
std::ostream & operator<<(std::ostream & os, const Transformd & v)
bool intersect(const Vector2d & a, const Vector2d & b)
bool intersect(const Vector2d & a, const Line & b)
bool intersect(const Vector2d & a, const Rect & b)
bool intersect(const Vector2d & a, const Circle & b)
bool intersect(const Vector2d & a, const Triangle & b)
bool intersect(const Vector2d & a, const Quad & b)
bool intersect(const Line & a, const Vector2d & b)
bool intersect(const Line & a, const Line & b)
bool intersect(const Line & a, const Circle & b)
bool intersect(const Rect & a, const Vector2d & b)
bool intersect(const Circle & a, const Vector2d & b)
std::optional< std::vector< Vector2d > > intersect_at(const Vector2d & a, const Vector2d & b)
std::optional< std::vector< Vector2d > > intersect_at(const Vector2d & a, const Line & b)
std::optional< std::vector< Vector2d > > intersect_at(const Vector2d & a, const Rect & b)
std::optional< std::vector< Vector2d > > intersect_at(const Vector2d & a, const Circle & b)
std::optional< std::vector< Vector2d > > intersect_at(const Line & a, const Vector2d & b)
std::optional< std::vector< Vector2d > > intersect_at(const Line & a, const Line & b)
std::optional< std::vector< Vector2d > > intersect_at(const Rect & a, const Vector2d & b)
std::optional< std::vector< Vector2d > > intersect_at(const Circle & a, const Vector2d & b)
constexpr DCMotorParam generate_mabuchi_motor_param(Volt nominal_voltage, Rpm free_speed, Ampere free_current, Torque stall_torque, Ampere stall_current, Henry inductance, Inertia rotor_inertia)
constexpr DCMotorParam generate_maxon_brush_motor_param(Volt nominal_voltage, Rpm free_speed, Ampere free_current, Ohm resistance, Henry inductance, TorqueConstant Kt, Inertia rotor_inertia)
TransferFunction make_motor_vel_tf(const DCMotorParam & motor, const double dt)
DCモーターのモデルから角速度の伝達関数を生成する
TransferFunction make_motor_pos_tf(const DCMotorParam & motor, const double dt)
DCモーターのモデルから角度の伝達関数を生成する
TransferFunction make_geared_motor_vel_tf(const DCGearedMotorParam & geared_motor, const double dt)
ギアヘッド付きDCモーターのモデルから角速度の伝達関数を生成する
TransferFunction make_geared_motor_pos_tf(const DCGearedMotorParam & geared_motor, const double dt)
ギアヘッド付きDCモーターのモデルから角度の伝達関数を生成する
std::tuple< bool, Eigen::VectorXd, size_t > barrier_method(std::function< double(const Eigen::VectorXd &)> f, ConstraintArray constraint, Eigen::VectorXd x_init, const double r_init =10.0, const double tol =1e-3, const size_t max_iter =1000)
バリア法
void bfgs_step(Eigen::MatrixXd & hess, Eigen::VectorXd s, Eigen::VectorXd y)
BFGS法
void powells_modified_bfgs_step(Eigen::MatrixXd & hess, Eigen::VectorXd s, Eigen::VectorXd y, Eigen::VectorXd dgg, double gamma =0.2)
パウエルの修正BFGS法
void powells_modified_bfgs_step(Eigen::MatrixXd & hess, Eigen::VectorXd s, Eigen::VectorXd y, double gamma =0.2)
double bracketing_serach(std::function< double(Eigen::VectorXd)> func, std::function< Eigen::VectorXd(Eigen::VectorXd)> grad, const Eigen::VectorXd & x, const Eigen::VectorXd & d, double gamma =0.3, double tau =0.9, const size_t max_iter =1000)
アルミホ条件を満たすステップ幅を求める囲い込み法
double bracketing_serach(std::function< double(double)> func, const double init =1.0, const double beta =0.9, const size_t max_iter =1000)
囲い込み法
double derivative(std::function< double(double)> f, double x, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
R -> Rの数値微分
Eigen::VectorXd derivative(std::function< double(Eigen::VectorXd)> f, Eigen::VectorXd x, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
R^n -> Rの数値微分
Eigen::MatrixXd derivative(std::function< Eigen::VectorXd(Eigen::VectorXd)> f, Eigen::VectorXd x, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
R^n -> R^mの数値微分
double second_derivative(std::function< double(double)> f, double x, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
R -> Rの2回数値微分
Eigen::MatrixXd second_derivative(std::function< double(Eigen::VectorXd)> f, Eigen::VectorXd x, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
R^n -> Rの2回数値微分
Eigen::MatrixXd mixed_derivative(std::function< double(Eigen::VectorXd, Eigen::VectorXd)> f, Eigen::VectorXd x, Eigen::VectorXd y, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
R^(n, m) -> Rのn,mでの偏微分
Eigen::MatrixXd approx_hessian(std::function< double(Eigen::VectorXd)> f, Eigen::VectorXd x, double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5))
double golden_search(std::function< double(double)> f, double low, double high, const double tol =1e-6, const size_t max_iter =100)
黄金探索
Eigen::VectorXd leastsq(const Eigen::MatrixXd & A, const Eigen::VectorXd & b)
std::tuple< Eigen::MatrixXd, Eigen::VectorXd > lsi2qp(const Eigen::MatrixXd & C, const Eigen::VectorXd & d)
std::tuple< bool, Eigen::VectorXd, size_t > newton_method(std::function< Eigen::VectorXd(const Eigen::VectorXd &)> grad, std::function< Eigen::MatrixXd(const Eigen::VectorXd &)> hesse, Eigen::VectorXd x_init, const double tol =1e-6, const size_t max_iter =1000)
ニュートン法
std::tuple< bool, Eigen::VectorXd, size_t > penalty_method(std::function< double(const Eigen::VectorXd &)> f, ConstraintArray constraint, Eigen::VectorXd x_init, const double r_init =1.0, const double tol =1e-3, const size_t max_iter =1000)
ペナルティ法
QuadProg::Result quadprog(const QuadProgProblem & prob, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
QuadProg::Result quadprog(const Eigen::MatrixXd & Q, const Eigen::VectorXd & c, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
QuadProg::Result quadprog(const Eigen::MatrixXd & Q, const Eigen::VectorXd & c, const Eigen::MatrixXd & A, const Eigen::VectorXd & b, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
QuadProg::Result quadprog(const Eigen::MatrixXd & Q, const Eigen::VectorXd & c, const Eigen::MatrixXd & A, const Eigen::VectorXd & b, const Eigen::MatrixXd & Aeq, const Eigen::VectorXd & beq, const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
QuadProg::Result quadprog_ineq_con(const Eigen::MatrixXd & Q, const Eigen::VectorXd & c, const Eigen::MatrixXd & A, const Eigen::VectorXd & b, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
QuadProg::Result quadprog_eq_con(const Eigen::MatrixXd & Q, const Eigen::VectorXd & c, const Eigen::MatrixXd & Aeq, const Eigen::VectorXd & beq, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
QuadProg::Result quadprog_bound_con(const Eigen::MatrixXd & Q, const Eigen::VectorXd & c, const Eigen::VectorXd & lb, const Eigen::VectorXd & ub, const Eigen::VectorXd & x0, QuadProg::Method method =QuadProg::Method::ADMM)
std::tuple< bool, Eigen::VectorXd, size_t > quasi_newton_method(std::function< double(const Eigen::VectorXd &)> f, std::function< Eigen::VectorXd(const Eigen::VectorXd &)> grad, Eigen::VectorXd x_init, const double tol =1e-6, const size_t max_iter =1000)
準ニュートン法
std::tuple< bool, Eigen::VectorXd, size_t > steepest_descent_method(std::function< double(const Eigen::VectorXd &)> f, std::function< Eigen::VectorXd(const Eigen::VectorXd &)> grad, Eigen::VectorXd x_init, const double tol =1e-6, const size_t max_iter =1000)
最急降下法
std::vector< Eigen::Vector2i > a_star(const Eigen::Vector2i & start, const Eigen::Vector2i & end, const Eigen::MatrixXi & map)
A*法
template <class EigenVector ,class Map >
std::vector< EigenVector >		 fmt_star(const Map & map, const EigenVector & x_init, const EigenVector & x_goal, const FMTStarConfig & config =FMTStarConfig())
double normalized_mjm_position(double t)
double normalized_mjm_velocity(double t)
double normalized_mjm_acceleration(double t)
double normalized_mjm_jerk(double t)
std::vector< Eigen::Vector2i > wave_propagation(const Eigen::Vector2i & start, const Eigen::Vector2i & end, const Eigen::MatrixXi & map)
Wave propagation法
std::tuple< std::vector< double >, std::vector< double > > bode(TransferFunction & tf, const std::vector< double > & omegas =logspace(-2, 2, 500), bool gain_db_mode =true, bool phase_deg_mode =true)
ボード線図の応答を計算する
template <class T >
T		 integrate_forward_euler(double dt, const T & x, const T & u, std::function< T(const T &, const T &)> dynamics)
template <class T >
T		 integrate_modified_euler(double dt, const T & x, const T & u, std::function< T(const T &, const T &)> dynamics)
template <class T >
T		 integrate_rk4(double dt, const T & x, const T & u, std::function< T(const T &, const T &)> dynamics)
std::tuple< std::vector< double >, std::vector< double > > nyquist(TransferFunction & tf, const std::vector< double > & omegas =logspace(-2, 2, 500))
ナイキスト線図の応答を計算する
std::ostream & operator<<(std::ostream & os, const Polynomial & v)
template <class CONTROLLER_T ,class SYSTEM_T >
SisoFeedbackSystem		 make_feedback_system(CONTROLLER_T & controller, SYSTEM_T & system)
void set_controller(SisoFeedbackSystem::func_list_t & fn, PID & controller)
void set_controller(SisoFeedbackSystem::func_list_t & fn, NctfController & controller)
void set_system(SisoFeedbackSystem::func_list_t & fn, TransferFunction & system)
StateSpaceSystem tf2ss(const TransferFunction & tf)
std::tuple< std::vector< double >, std::vector< double > > impulse(const std::function< double(double)> & sys, double dt, double time)
インパルス応答を求める
template <class SysType ,typename std::enable_if< internal::is_system_class< SysType >::value >::type * =nullptr>
std::tuple< std::vector< double >, std::vector< double > >		 impulse(SysType & sys, double time)
std::tuple< std::vector< double >, std::vector< double > > step(const std::function< double(double)> & sys, double dt, double time, const double gain =1.0)
ステップ応答を求める
template <class SysType ,typename std::enable_if< internal::is_system_class< SysType >::value >::type * =nullptr>
std::tuple< std::vector< double >, std::vector< double > >		 step(SysType & sys, double time, const double gain =1.0)
template <class FilterType ,typename std::enable_if< internal::is_pure_filter_class< FilterType >::value >::type * =nullptr>
std::tuple< std::vector< double >, std::vector< double > >		 step(FilterType & filter, double time, const double gain =1.0)
template <class DataIterativeType >
std::tuple< DataIterativeType, DataIterativeType >		 lsim(const std::function< double(double)> & sys, double dt, const DataIterativeType & input)
任意の入力による応答を求める
template <class DataIterativeType ,class SysType ,typename std::enable_if< internal::is_system_class< SysType >::value >::type * =nullptr>
std::tuple< DataIterativeType, DataIterativeType >		 lsim(SysType sys, const DataIterativeType & input, bool skip_reset =false)
template <class DataIterativeType >
std::tuple< DataIterativeType, DataIterativeType >		 lsim(TransferFunction::tf_t sys_config, const DataIterativeType & input)
template <class DataIterativeType >
std::tuple< DataIterativeType, DataIterativeType, DataIterativeType >		 lsim(SisoFeedbackSystem sys, const DataIterativeType & input, bool skip_reset =false)
template <class DataIterativeType >
DataIterativeType		 lsim_y(const std::function< double(double)> & sys, double dt, const DataIterativeType & input)
template <class DataIterativeType ,class SysType ,typename std::enable_if< internal::is_system_class< SysType >::value >::type * =nullptr>
DataIterativeType		 lsim_y(SysType sys, const DataIterativeType & input, bool skip_reset =false)
template <class DataIterativeType >
DataIterativeType		 lsim_y(TransferFunction::tf_t sys_config, const DataIterativeType & input)
template <class DataIterativeType >
std::tuple< DataIterativeType, DataIterativeType >		 lsim_uy(SisoFeedbackSystem sys, const DataIterativeType & input, bool skip_reset =false)
template <class DataIterativeType >
DataIterativeType		 lsim_y(SisoFeedbackSystem sys, const DataIterativeType & input, bool skip_reset =false)
template <class UnitDimType ,int FromTag,int ToTag,bool IsNormalTag =tag::is_normal_tag::value && tag::is_normal_tag::value>
constexpr double		 conv_factor()
template <typename T1 ,typename T2 ,class UnitDim ,class Prefix ,int Tag>
constexpr auto		 operator*(const Unit< T1, UnitDim, Prefix, Tag > & l_value, const T2 & r_value)
template <typename T1 ,typename T2 ,class UnitDim ,class Prefix ,int Tag>
constexpr auto		 operator*(const T1 & l_value, const Unit< T2, UnitDim, Prefix, Tag > & r_value)
template <typename T1 ,typename T2 ,class UnitDim ,class Prefix ,int Tag>
constexpr auto		 operator/(const T1 & l_value, const Unit< T2, UnitDim, Prefix, Tag > & r_value)
template <typename T1 ,typename T2 ,class UnitDim ,class Prefix ,int Tag>
constexpr auto		 operator/(const Unit< T1, UnitDim, Prefix, Tag > & l_value, const T2 & r_value)
template <typename T1 ,class UnitDim1 ,class Prefix1 ,int Tag1,typename T2 ,class UnitDim2 ,class Prefix2 ,int Tag2>
constexpr auto		 operator*(const Unit< T1, UnitDim1, Prefix1, Tag1 > & lhl, const Unit< T2, UnitDim2, Prefix2, Tag2 > & rhl)
template <typename T1 ,class UnitDim1 ,class Prefix1 ,int Tag1,typename T2 ,class UnitDim2 ,class Prefix2 ,int Tag2>
constexpr auto		 operator/(const Unit< T1, UnitDim1, Prefix1, Tag1 > & lhl, const Unit< T2, UnitDim2, Prefix2, Tag2 > & rhl)
template <typename T ,class UnitDim ,class Prefix1 ,class Prefix2 ,int Tag>
constexpr auto		 operator+(const Unit< T, UnitDim, Prefix1, Tag > & lhl, const Unit< T, UnitDim, Prefix2, Tag > & rhl)
template <typename T ,class UnitDim ,class Prefix1 ,class Prefix2 ,int Tag>
constexpr auto		 operator-(const Unit< T, UnitDim, Prefix1, Tag > & lhl, const Unit< T, UnitDim, Prefix2, Tag > & rhl)
template <class ForwardIterator >
constexpr ForwardIterator		 shift_left(ForwardIterator first, ForwardIterator last, typename std::iterator_traits< ForwardIterator >::difference_type n)
Substitute shift_left function in C++20 alogorithm.
template <class ForwardIterator >
constexpr ForwardIterator		 shift_right(ForwardIterator first, ForwardIterator last, typename std::iterator_traits< ForwardIterator >::difference_type n)
Substitute shift_right function in C++20 alogorithm.
template <typename... Args>
std::string		 c_format(const std::string & format, Args const &... args)
printfと同様の操作でstd::stringを得る
template <typename MatrixType >
bool		 isPositiveDefinite(const MatrixType & matrix)
template <typename MatrixType >
MatrixType		 pseudo_inverse(const MatrixType & a, double epsilon =std::numeric_limits< double >::epsilon())
template <typename MatrixType >
MatrixType		 sr_inverse(const MatrixType & a, double w0 =1e-2, Eigen::MatrixXd W =Eigen::MatrixXd())
template <typename T >
constexpr bool		 in_range_open(T x, T min, T max)
template <typename T >
constexpr bool		 in_range(T x, T min, T max)
template <typename T >
constexpr int		 sgn(T x)
template <typename T >
constexpr double		 radians(T deg)
template <typename T >
constexpr double		 degrees(T rad)
double normalize_angle_positive(double angle)
double normalize_angle(double angle)
double shortest_angular_distance(double from, double to)
double nearest_angle(double from, double to)
constexpr double square(const double x)
constexpr double cubic(const double x)
constexpr double lerp(const double a, const double b, const double t)
constexpr double approx_eq(const double a, const double b)
constexpr double approx_zero(const double a)
template <typename Real =double>
Real		 gererate_random()
0.0〜1.0までの一様分布の乱数を生成する
template <class DataType =std::vector>
DataType		 arrange(double start, double end, double step =1.0)
startからendまでstepずつ増える点のベクトルを返す
template <class DataType =std::vector>
DataType		 linspace(double start, double end, size_t n =100)
startからendまでをn分割した点のベクトルを返す
template <class DataType =std::vector>
DataType		 implusespace(double time, double dt =1.0)
template <class DataType =std::vector>
DataType		 stepspace(double time, double dt =1.0)
template <class DataType =std::vector>
DataType		 logspace(double start, double end, size_t n =100)
10^startから10^endまで対数的に等間隔なn個の点のベクトルを返す
std::vector< double > funcspace(std::function< double(size_t, size_t)> f, size_t n =100)
std::vector< double > sinspace(double a, double b, size_t n =100)

Attributes

Name
constexpr DCMotorParam RZ_735VA_9517
constexpr DCMotorParam RS_775_8513
constexpr DCMotorParam RS_555VC_5524
constexpr DCMotorParam RS_380PH_4045
constexpr DCMotorParam RS_385PH_2465
constexpr DCMotorParam RE_65_250_18
constexpr GearHeadParam IG42C_4
constexpr GearHeadParam IG42C_14
constexpr GearHeadParam IG42C_17
constexpr GearHeadParam IG32_27
constexpr GearHeadParam IG32_71
constexpr GearHeadParam IG32_100
constexpr double PI
円周率
constexpr double HALF_PI
円周率 / 2
constexpr double TWO_PI
円周率 * 2
constexpr double DEG_TO_RAD
degree -> radians
constexpr double RAD_TO_DEG
radian -> degree
constexpr double EULER
ネイピア数
constexpr double GRAVITY
重力
constexpr double Nm2gfm
constexpr double gfm2Nm
constexpr double mNm2gfcm
constexpr double gfcm2mNm

Types Documentation

enum CanonicalizeMode

Enumerator Value Description
COMPANION
OBSERBAVLE
CONTROLLABLE

enum OCPConstraintType

Enumerator Value Description
Eq
Ineq

enum OCPIntegrationMethod

Enumerator Value Description
ForwardEuler
ModifiedEuler
RK4

enum UnitIndex

Enumerator Value Description
MetereIdx
KiloGramIdx
SecondIdx
AmpereIdx
KelvinIdx
MoleIdx
CandelaIdx

using ADScalar

template <class DerType  =Eigen::VectorXd>
using cpp_robotics::ADScalar = typedef Eigen::AutoDiffScalar<DerType>;

using ADVectorXd

using cpp_robotics::ADVectorXd = typedef ADVector<Eigen::VectorXd, Eigen::Dynamic>;

using ShapeType

using cpp_robotics::ShapeType = typedef std::variant<Vector2d, Line, Quad, Rect, Triangle, Circle>;

using TorqueConstant

using cpp_robotics::unit::TorqueConstant = typedef unit_assem::unit_div<Torque, Ampere>::unit;

using BackEmfConstant

using cpp_robotics::unit::BackEmfConstant = typedef unit_assem::unit_div<Volt, AngularVelocity>::unit;

using FrictionConstant

using cpp_robotics::unit::FrictionConstant = typedef unit_assem::unit_mul<Torque, Second>::unit;

using ObstacleShapeType

using cpp_robotics::ObstacleShapeType = typedef std::variant<Rect, Circle>;

using GridMap2d

using cpp_robotics::GridMap2d = typedef GridMap<2>;

using GridMap3d

using cpp_robotics::GridMap3d = typedef GridMap<3>;

using GridMapXd

using cpp_robotics::GridMapXd = typedef GridMap<Eigen::Dynamic>;

using CatumullRomSplinePath2d

using cpp_robotics::CatumullRomSplinePath2d = typedef CatumullRomSplinePath<Eigen::Vector2d>;

using CatumullRomSplinePath3d

using cpp_robotics::CatumullRomSplinePath3d = typedef CatumullRomSplinePath<Eigen::Vector3d>;

using CubicSplinePath2d

using cpp_robotics::CubicSplinePath2d = typedef CubicSplinePath<Eigen::Vector2d>;

using CubicSplinePath3d

using cpp_robotics::CubicSplinePath3d = typedef CubicSplinePath<Eigen::Vector3d>;

using Second

using cpp_robotics::unit::Second = typedef Unit<double, unit_dimention::second, prefix::none>;

using MilliSecond

using cpp_robotics::unit::MilliSecond = typedef Unit<double, unit_dimention::second, prefix::milli>;

using MicroSecond

using cpp_robotics::unit::MicroSecond = typedef Unit<double, unit_dimention::second, prefix::micro>;

using Meter

using cpp_robotics::unit::Meter = typedef Unit<double, unit_dimention::metere, prefix::none>;

using MilliMeter

using cpp_robotics::unit::MilliMeter = typedef Unit<double, unit_dimention::metere, prefix::milli>;

using MicroMeter

using cpp_robotics::unit::MicroMeter = typedef Unit<double, unit_dimention::metere, prefix::micro>;

using CentiMeter

using cpp_robotics::unit::CentiMeter = typedef Unit<double, unit_dimention::metere, prefix::centi>;

using KiloGram

using cpp_robotics::unit::KiloGram = typedef Unit<double, unit_dimention::kilogram, prefix::none>;

using Gram

using cpp_robotics::unit::Gram = typedef Unit<double, unit_dimention::kilogram, prefix::milli>;

using Watt

using cpp_robotics::unit::Watt = typedef Unit<double, unit_dimention::watt, prefix::none>;

using KiloWatt

using cpp_robotics::unit::KiloWatt = typedef Unit<double, unit_dimention::watt, prefix::kilo>;

using Newton

using cpp_robotics::unit::Newton = typedef Unit<double, unit_dimention::newton, prefix::none>;

using KiloNewton

using cpp_robotics::unit::KiloNewton = typedef Unit<double, unit_dimention::newton, prefix::kilo>;

using Pascal

using cpp_robotics::unit::Pascal = typedef Unit<double, unit_dimention::pascal, prefix::none>;

using KiloPascal

using cpp_robotics::unit::KiloPascal = typedef Unit<double, unit_dimention::pascal, prefix::kilo>;

using Hertz

using cpp_robotics::unit::Hertz = typedef Unit<double, unit_dimention::hertz, prefix::none>;

using Area

using cpp_robotics::unit::Area = typedef Unit<double, unit_dimention::area, prefix::none>;

using Volume

using cpp_robotics::unit::Volume = typedef Unit<double, unit_dimention::volume, prefix::none>;

using Velocity

using cpp_robotics::unit::Velocity = typedef Unit<double, unit_dimention::velocity, prefix::none>;

using Acceleration

using cpp_robotics::unit::Acceleration = typedef Unit<double, unit_dimention::acceleration, prefix::none>;

using Dencity

using cpp_robotics::unit::Dencity = typedef Unit<double, unit_dimention::dencity, prefix::none>;

using Torque

using cpp_robotics::unit::Torque = typedef Unit<double, unit_dimention::torque, prefix::none>;

using Inertia

using cpp_robotics::unit::Inertia = typedef Unit<double, unit_dimention::inertia, prefix::none>;

using Ampere

using cpp_robotics::unit::Ampere = typedef Unit<double, unit_dimention::ampere, prefix::none>;

using MilliAmpere

using cpp_robotics::unit::MilliAmpere = typedef Unit<double, unit_dimention::ampere, prefix::milli>;

using Volt

using cpp_robotics::unit::Volt = typedef Unit<double, unit_dimention::volt, prefix::none>;

using MilliVolt

using cpp_robotics::unit::MilliVolt = typedef Unit<double, unit_dimention::volt, prefix::milli>;

using Ohm

using cpp_robotics::unit::Ohm = typedef Unit<double, unit_dimention::ohm, prefix::none>;

using MilliOhm

using cpp_robotics::unit::MilliOhm = typedef Unit<double, unit_dimention::ohm, prefix::milli>;

using Henry

using cpp_robotics::unit::Henry = typedef Unit<double, unit_dimention::henry, prefix::none>;

using MilliHenry

using cpp_robotics::unit::MilliHenry = typedef Unit<double, unit_dimention::henry, prefix::milli>;

using Farad

using cpp_robotics::unit::Farad = typedef Unit<double, unit_dimention::farad, prefix::none>;

using MilliFarad

using cpp_robotics::unit::MilliFarad = typedef Unit<double, unit_dimention::farad, prefix::milli>;

using MicroFarad

using cpp_robotics::unit::MicroFarad = typedef Unit<double, unit_dimention::farad, prefix::micro>;

using NanoFarad

using cpp_robotics::unit::NanoFarad = typedef Unit<double, unit_dimention::farad, prefix::nano>;

using Radian

using cpp_robotics::unit::Radian = typedef Unit<double, unit_dimention::angle, prefix::none, tag::angle::radian>;

using Degree

using cpp_robotics::unit::Degree = typedef Unit<double, unit_dimention::angle, prefix::none, tag::angle::degree>;

using AngularVelocity

using cpp_robotics::unit::AngularVelocity = typedef Unit<double, unit_dimention::angular_velocity, prefix::none, tag::angular_vel::rad_per_sec>;

using Rps

using cpp_robotics::unit::Rps = typedef Unit<double, unit_dimention::angular_velocity, prefix::none, tag::angular_vel::rps>;

using Rpm

using cpp_robotics::unit::Rpm = typedef Unit<double, unit_dimention::angular_velocity, prefix::none, tag::angular_vel::rpm>;

using AngularAcceleration

using cpp_robotics::unit::AngularAcceleration = typedef Unit<double, unit_dimention::angular_acceleration, prefix::none>;

using UniformIntRandomEngine

using cpp_robotics::UniformIntRandomEngine = typedef RandomGenerator<std::uniform_int_distribution<> >;

整数型一様分布乱数生成エンジン

using UniformRealRandomEngine

using cpp_robotics::UniformRealRandomEngine = typedef RandomGenerator<std::uniform_real_distribution<> >;

実数型一様分布乱数生成エンジン

using BernoulliRandomEngine

using cpp_robotics::BernoulliRandomEngine = typedef RandomGenerator<std::bernoulli_distribution>;

ベルヌーイ分布乱数生成エンジン

using BinomialRandomEngine

using cpp_robotics::BinomialRandomEngine = typedef RandomGenerator<std::binomial_distribution<> >;

二項分布乱数生成エンジン

using GeometricRandomEngine

using cpp_robotics::GeometricRandomEngine = typedef RandomGenerator<std::geometric_distribution<> >;

幾何学分布乱数生成エンジン

using NegativeBinomialRandomEngine

using cpp_robotics::NegativeBinomialRandomEngine = typedef RandomGenerator<std::negative_binomial_distribution<> >;

負の二項分布乱数生成エンジン

using PoissonRandomEngine

using cpp_robotics::PoissonRandomEngine = typedef RandomGenerator<std::poisson_distribution<> >;

ポワソン分布乱数生成エンジン

using ExponentialRandomEngine

using cpp_robotics::ExponentialRandomEngine = typedef RandomGenerator<std::exponential_distribution<> >;

指数分布乱数生成エンジン

using GammaRandomEngine

using cpp_robotics::GammaRandomEngine = typedef RandomGenerator<std::gamma_distribution<> >;

ガンマ分布乱数生成エンジン

using WeibullRandomEngine

using cpp_robotics::WeibullRandomEngine = typedef RandomGenerator<std::weibull_distribution<> >;

ワイブル分布乱数生成エンジン

using ExtremeValueRandomEngine

using cpp_robotics::ExtremeValueRandomEngine = typedef RandomGenerator<std::extreme_value_distribution<> >;

極値分布乱数生成エンジン

using NormalRandomEngine

using cpp_robotics::NormalRandomEngine = typedef RandomGenerator<std::normal_distribution<> >;

正規分布乱数生成エンジン

using LognormalRandomEngine

using cpp_robotics::LognormalRandomEngine = typedef RandomGenerator<std::lognormal_distribution<> >;

対数正規分布乱数生成エンジン

using ChiSquaredRandomEngine

using cpp_robotics::ChiSquaredRandomEngine = typedef RandomGenerator<std::chi_squared_distribution<> >;

カイ二乗分布乱数生成エンジン

using CauchyRandomEngine

using cpp_robotics::CauchyRandomEngine = typedef RandomGenerator<std::cauchy_distribution<> >;

コーシー分布乱数生成エンジン

using FisherFRandomEngine

using cpp_robotics::FisherFRandomEngine = typedef RandomGenerator<std::fisher_f_distribution<> >;

フィッシャーのF分布乱数生成エンジン

using StudentTRandomEngine

using cpp_robotics::StudentTRandomEngine = typedef RandomGenerator<std::student_t_distribution<> >;

ステューデントのt分布乱数生成エンジン

using DiscreteRandomEngine

using cpp_robotics::DiscreteRandomEngine = typedef RandomGenerator<std::discrete_distribution<> >;

整数のインデックスごとに離散した確率分布の乱数生成エンジン

using PiecewiseConstantRandomEngine

using cpp_robotics::PiecewiseConstantRandomEngine = typedef RandomGenerator<std::piecewise_constant_distribution<> >;

区間ごとの重み付けを定数値とした分布の乱数生成エンジン

using PiecewiseLinearRandomEngine

using cpp_robotics::PiecewiseLinearRandomEngine = typedef RandomGenerator<std::piecewise_linear_distribution<> >;

区間ごとの重み付けを線形に接続した分布の乱数生成エンジン

using Quaternionf

using cpp_robotics::Quaternionf = typedef Quaternion<float>;

using Quaterniond

using cpp_robotics::Quaterniond = typedef Quaternion<double>;

using Transformf

using cpp_robotics::Transformf = typedef Transform<float>;

using Transformd

using cpp_robotics::Transformd = typedef Transform<double>;

using Vector2f

using cpp_robotics::Vector2f = typedef Vector2<float>;

using Vector2d

using cpp_robotics::Vector2d = typedef Vector2<double>;

using Vector3f

using cpp_robotics::Vector3f = typedef Vector3<float>;

using Vector3d

using cpp_robotics::Vector3d = typedef Vector3<double>;

using Vector4f

using cpp_robotics::Vector4f = typedef Vector4<float>;

using Vector4d

using cpp_robotics::Vector4d = typedef Vector4<double>;

Functions Documentation

function calcu_transformatoin

template <int DIM>
static std::pair< Eigen::Matrix< double, DIM, DIM >, Eigen::Matrix< double, DIM, 1 > > calcu_transformatoin(
    std::vector< Eigen::Matrix< double, DIM, 1 >> dest,
    std::vector< Eigen::Matrix< double, DIM, 1 >> fixed
)

function icp

template <int DIM>
static std::tuple< std::vector< Eigen::Matrix< double, DIM, 1 > >, Eigen::MatrixXd, size_t > icp(
    std::vector< Eigen::Matrix< double, DIM, 1 >> dest,
    const std::vector< Eigen::Matrix< double, DIM, 1 >> & fixed,
    double eps =1e-4,
    size_t max_iter =100
)

function mahalanobis

double mahalanobis(
    const Eigen::VectorXd & a,
    const Eigen::VectorXd & b,
    const Eigen::MatrixXd cov_inv
)

マハラノビス距離の計算

Parameters:

  • a
  • b
  • cov_inv 分散の逆行列

Return: double マハラノビス距離

function poly_regression

Polynomial poly_regression(
    const std::vector< double > & x,
    const std::vector< double > & y,
    const size_t degree
)

回帰曲線

Parameters:

  • x
  • y
  • degree 回帰曲線の次元

Return: Polynomial

function homogeneous

static Eigen::MatrixXd homogeneous(
    const Eigen::MatrixXd & R,
    const Eigen::VectorXd & T
)

function transform_by_homogeneous

static Eigen::VectorXd transform_by_homogeneous(
    const Eigen::MatrixXd & H,
    const Eigen::VectorXd & x
)

function solve_riccati_arimoto_potter

static std::optional< Eigen::MatrixXd > solve_riccati_arimoto_potter(
    const Eigen::MatrixXd & A,
    const Eigen::MatrixXd & B,
    const Eigen::MatrixXd & Q,
    const Eigen::MatrixXd & R
)

有本-ポッターの方法によるリカッチ方程式の解法

Parameters:

  • A
  • B
  • Q
  • R

Return: std::optional

function lqr

static Eigen::MatrixXd lqr(
    const Eigen::MatrixXd & A,
    const Eigen::MatrixXd & B,
    const Eigen::MatrixXd & Q,
    const Eigen::MatrixXd & R
)

function controllability_matrix

static Eigen::MatrixXd controllability_matrix(
    const Eigen::MatrixXd & A,
    const Eigen::VectorXd & B
)

可制御性行列の計算

Parameters:

  • A
  • B

Return: Eigen::MatrixXd

function is_controllable

static bool is_controllable(
    const Eigen::MatrixXd & A,
    const Eigen::VectorXd & B
)

可制御性の判別

Parameters:

  • A
  • B

Return:

  • true システムが可制御である
  • false システムが可制御でない

function is_controllable

static bool is_controllable(
    const StateSpaceSystem & sys
)

function observability_matrix

static Eigen::MatrixXd observability_matrix(
    const Eigen::MatrixXd & A,
    const Eigen::RowVectorXd & C
)

可観測性行列を計算する

Parameters:

  • A
  • C

Return: Eigen::MatrixXd

function is_observable

static bool is_observable(
    const Eigen::MatrixXd & A,
    const Eigen::RowVectorXd & C
)

可観測性の判別

Parameters:

  • A
  • C

Return:

  • true システムが可観測である
  • false システムが可観測でない

function is_observable

static bool is_observable(
    const StateSpaceSystem & sys
)

Parameters:

  • sys 可観測性の判別

Return:

  • true システムが可観測である
  • false システムが可観測でない

function canonicalize_system

static std::tuple< Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd > canonicalize_system(
    const Eigen::MatrixXd & A,
    const Eigen::MatrixXd & B,
    const Eigen::MatrixXd & C,
    CanonicalizeMode mode =CanonicalizeMode::COMPANION
)

同値変換による可制御正準形への変換

Parameters:

  • A
  • B
  • C
  • mode

Return: std::tuple

function canonicalize_system

static std::tuple< Eigen::MatrixXd, Eigen::MatrixXd, Eigen::MatrixXd > canonicalize_system(
    const StateSpaceSystem & sys,
    CanonicalizeMode mode =CanonicalizeMode::COMPANION
)

同値変換による可制御正準形への変換

Parameters:

  • sys
  • mode

Return: std::tuple

function place

static Eigen::VectorXd place(
    const StateSpaceSystem & sys,
    std::vector< double > poles
)

アッカーマン法によるSISOモデルの極配置

Parameters:

  • sys
  • poles

Return: Eigen::VectorXd

function OCPInputBoundConstraints

static OCPConstraintArray OCPInputBoundConstraints(
    const Eigen::VectorXd & lb,
    const Eigen::VectorXd & ub,
    double slope =10.0
)

function OCPStateBoundConstrants

static OCPConstraintArray OCPStateBoundConstrants(
    const Eigen::VectorXd & lb,
    const Eigen::VectorXd & ub,
    double slope =10.0
)

function vrft_leastsq

Eigen::VectorXd vrft_leastsq(
    const Eigen::VectorXd & u,
    const Eigen::VectorXd & y,
    const double Ts,
    TransferFunction ref_model,
    std::vector< TransferFunction > & control_base,
    std::optional< TransferFunction > prefilter
)

function vrft_pid

Eigen::VectorXd vrft_pid(
    const Eigen::VectorXd & u,
    const Eigen::VectorXd & y,
    const double Ts,
    TransferFunction ref_model,
    std::optional< TransferFunction > prefilter,
    double Td =0.01
)

function vrft_p

Eigen::VectorXd vrft_p(
    const Eigen::VectorXd & u,
    const Eigen::VectorXd & y,
    const double Ts,
    TransferFunction ref_model,
    std::optional< TransferFunction > prefilter
)

function vrft_pi

Eigen::VectorXd vrft_pi(
    const Eigen::VectorXd & u,
    const Eigen::VectorXd & y,
    const double Ts,
    TransferFunction ref_model,
    std::optional< TransferFunction > prefilter
)

function vrft_pd

Eigen::VectorXd vrft_pd(
    const Eigen::VectorXd & u,
    const Eigen::VectorXd & y,
    const double Ts,
    TransferFunction ref_model,
    std::optional< TransferFunction > prefilter,
    double Td =0.01
)

function operator<<

std::ostream & operator<<(
    std::ostream & os,
    const Vector2d & v
)

function operator<<

std::ostream & operator<<(
    std::ostream & os,
    const Vector3d & v
)

function operator<<

std::ostream & operator<<(
    std::ostream & os,
    const Vector4d & v
)

function operator<<

std::ostream & operator<<(
    std::ostream & os,
    const Transformd & v
)

function intersect

bool intersect(
    const Vector2d & a,
    const Vector2d & b
)

function intersect

bool intersect(
    const Vector2d & a,
    const Line & b
)

function intersect

bool intersect(
    const Vector2d & a,
    const Rect & b
)

function intersect

bool intersect(
    const Vector2d & a,
    const Circle & b
)

function intersect

bool intersect(
    const Vector2d & a,
    const Triangle & b
)

function intersect

bool intersect(
    const Vector2d & a,
    const Quad & b
)

function intersect

bool intersect(
    const Line & a,
    const Vector2d & b
)

function intersect

bool intersect(
    const Line & a,
    const Line & b
)

function intersect

bool intersect(
    const Line & a,
    const Circle & b
)

function intersect

bool intersect(
    const Rect & a,
    const Vector2d & b
)

function intersect

bool intersect(
    const Circle & a,
    const Vector2d & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Vector2d & a,
    const Vector2d & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Vector2d & a,
    const Line & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Vector2d & a,
    const Rect & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Vector2d & a,
    const Circle & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Line & a,
    const Vector2d & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Line & a,
    const Line & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Rect & a,
    const Vector2d & b
)

function intersect_at

std::optional< std::vector< Vector2d > > intersect_at(
    const Circle & a,
    const Vector2d & b
)

function generate_mabuchi_motor_param

inline constexpr DCMotorParam generate_mabuchi_motor_param(
    Volt nominal_voltage,
    Rpm free_speed,
    Ampere free_current,
    Torque stall_torque,
    Ampere stall_current,
    Henry inductance,
    Inertia rotor_inertia
)

function generate_maxon_brush_motor_param

inline constexpr DCMotorParam generate_maxon_brush_motor_param(
    Volt nominal_voltage,
    Rpm free_speed,
    Ampere free_current,
    Ohm resistance,
    Henry inductance,
    TorqueConstant Kt,
    Inertia rotor_inertia
)

function make_motor_vel_tf

static TransferFunction make_motor_vel_tf(
    const DCMotorParam & motor,
    const double dt
)

DCモーターのモデルから角速度の伝達関数を生成する

Parameters:

  • motor
  • dt

Return: TransferFunction

function make_motor_pos_tf

static TransferFunction make_motor_pos_tf(
    const DCMotorParam & motor,
    const double dt
)

DCモーターのモデルから角度の伝達関数を生成する

Parameters:

  • motor
  • dt

Return: TransferFunction

function make_geared_motor_vel_tf

static TransferFunction make_geared_motor_vel_tf(
    const DCGearedMotorParam & geared_motor,
    const double dt
)

ギアヘッド付きDCモーターのモデルから角速度の伝達関数を生成する

Parameters:

  • geared_motor
  • dt

Return: TransferFunction

function make_geared_motor_pos_tf

static TransferFunction make_geared_motor_pos_tf(
    const DCGearedMotorParam & geared_motor,
    const double dt
)

ギアヘッド付きDCモーターのモデルから角度の伝達関数を生成する

Parameters:

  • geared_motor
  • dt

Return: TransferFunction

function barrier_method

static std::tuple< bool, Eigen::VectorXd, size_t > barrier_method(
    std::function< double(const Eigen::VectorXd &)> f,
    ConstraintArray constraint,
    Eigen::VectorXd x_init,
    const double r_init =10.0,
    const double tol =1e-3,
    const size_t max_iter =1000
)

バリア法

function bfgs_step

static void bfgs_step(
    Eigen::MatrixXd & hess,
    Eigen::VectorXd s,
    Eigen::VectorXd y
)

BFGS法

Parameters:

  • hess 前ステップまでの近似ヘッシアン
  • s x_k+1 - x_k
  • y \grad_x L(x_k+1, u_k+1) - \grad_x L(x_k, u_k)

function powells_modified_bfgs_step

static void powells_modified_bfgs_step(
    Eigen::MatrixXd & hess,
    Eigen::VectorXd s,
    Eigen::VectorXd y,
    Eigen::VectorXd dgg,
    double gamma =0.2
)

パウエルの修正BFGS法

Parameters:

  • hess 前ステップまでの近似ヘッシアン
  • s x_k+1 - x_k
  • y \grad_x L(x_k+1, u_k+1) - \grad_x L(x_k, u_k)
  • w \grad g(x+1)g(x+1) - \grad g(x)g(x)
  • gamma

function powells_modified_bfgs_step

static void powells_modified_bfgs_step(
    Eigen::MatrixXd & hess,
    Eigen::VectorXd s,
    Eigen::VectorXd y,
    double gamma =0.2
)

function bracketing_serach

static double bracketing_serach(
    std::function< double(Eigen::VectorXd)> func,
    std::function< Eigen::VectorXd(Eigen::VectorXd)> grad,
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & d,
    double gamma =0.3,
    double tau =0.9,
    const size_t max_iter =1000
)

アルミホ条件を満たすステップ幅を求める囲い込み法

Parameters:

  • func
  • grad
  • x
  • d
  • gamma
  • tau
  • max_iter

Return: double

function bracketing_serach

static double bracketing_serach(
    std::function< double(double)> func,
    const double init =1.0,
    const double beta =0.9,
    const size_t max_iter =1000
)

囲い込み法

Parameters:

  • func
  • init
  • beta
  • max_iter

Return: double

function derivative

static double derivative(
    std::function< double(double)> f,
    double x,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

R -> Rの数値微分

Parameters:

  • f
  • x
  • eps

Return: double

function derivative

static Eigen::VectorXd derivative(
    std::function< double(Eigen::VectorXd)> f,
    Eigen::VectorXd x,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

R^n -> Rの数値微分

Parameters:

  • f
  • x
  • eps

Return: Eigen::VectorXd

function derivative

static Eigen::MatrixXd derivative(
    std::function< Eigen::VectorXd(Eigen::VectorXd)> f,
    Eigen::VectorXd x,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

R^n -> R^mの数値微分

Parameters:

  • f
  • x
  • eps

Return: Eigen::MatrixXd

function second_derivative

static double second_derivative(
    std::function< double(double)> f,
    double x,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

R -> Rの2回数値微分

Parameters:

  • f
  • x
  • eps

Return: double

function second_derivative

static Eigen::MatrixXd second_derivative(
    std::function< double(Eigen::VectorXd)> f,
    Eigen::VectorXd x,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

R^n -> Rの2回数値微分

Parameters:

  • f
  • x
  • eps

Return: Eigen::MatrixXd

function mixed_derivative

static Eigen::MatrixXd mixed_derivative(
    std::function< double(Eigen::VectorXd, Eigen::VectorXd)> f,
    Eigen::VectorXd x,
    Eigen::VectorXd y,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

R^(n, m) -> Rのn,mでの偏微分

Parameters:

  • f
  • x
  • eps

Return: Eigen::MatrixXd

function approx_hessian

static Eigen::MatrixXd approx_hessian(
    std::function< double(Eigen::VectorXd)> f,
    Eigen::VectorXd x,
    double eps =std::pow(std::numeric_limits< double >::epsilon(), 0.5)
)

Parameters:

  • f
  • x
  • eps

Return: Eigen::MatrixXd 

static double golden_search(
    std::function< double(double)> f,
    double low,
    double high,
    const double tol =1e-6,
    const size_t max_iter =100
)

黄金探索

Parameters:

  • f
  • low
  • high
  • tol
  • max_iter

Return: double

function leastsq

Eigen::VectorXd leastsq(
    const Eigen::MatrixXd & A,
    const Eigen::VectorXd & b
)

function lsi2qp

std::tuple< Eigen::MatrixXd, Eigen::VectorXd > lsi2qp(
    const Eigen::MatrixXd & C,
    const Eigen::VectorXd & d
)

function newton_method

static std::tuple< bool, Eigen::VectorXd, size_t > newton_method(
    std::function< Eigen::VectorXd(const Eigen::VectorXd &)> grad,
    std::function< Eigen::MatrixXd(const Eigen::VectorXd &)> hesse,
    Eigen::VectorXd x_init,
    const double tol =1e-6,
    const size_t max_iter =1000
)

ニュートン法

Parameters:

  • grad
  • hesse
  • x_init
  • tol
  • max_iter

Return: std::tuple

function penalty_method

static std::tuple< bool, Eigen::VectorXd, size_t > penalty_method(
    std::function< double(const Eigen::VectorXd &)> f,
    ConstraintArray constraint,
    Eigen::VectorXd x_init,
    const double r_init =1.0,
    const double tol =1e-3,
    const size_t max_iter =1000
)

ペナルティ法

Parameters:

  • f
  • constraint
  • x_init
  • r_init
  • tol
  • max_iter

Return: std::tuple

function quadprog

static QuadProg::Result quadprog(
    const QuadProgProblem & prob,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quadprog

static QuadProg::Result quadprog(
    const Eigen::MatrixXd & Q,
    const Eigen::VectorXd & c,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quadprog

static QuadProg::Result quadprog(
    const Eigen::MatrixXd & Q,
    const Eigen::VectorXd & c,
    const Eigen::MatrixXd & A,
    const Eigen::VectorXd & b,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quadprog

static QuadProg::Result quadprog(
    const Eigen::MatrixXd & Q,
    const Eigen::VectorXd & c,
    const Eigen::MatrixXd & A,
    const Eigen::VectorXd & b,
    const Eigen::MatrixXd & Aeq,
    const Eigen::VectorXd & beq,
    const Eigen::VectorXd & lb,
    const Eigen::VectorXd & ub,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quadprog_ineq_con

static QuadProg::Result quadprog_ineq_con(
    const Eigen::MatrixXd & Q,
    const Eigen::VectorXd & c,
    const Eigen::MatrixXd & A,
    const Eigen::VectorXd & b,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quadprog_eq_con

static QuadProg::Result quadprog_eq_con(
    const Eigen::MatrixXd & Q,
    const Eigen::VectorXd & c,
    const Eigen::MatrixXd & Aeq,
    const Eigen::VectorXd & beq,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quadprog_bound_con

static QuadProg::Result quadprog_bound_con(
    const Eigen::MatrixXd & Q,
    const Eigen::VectorXd & c,
    const Eigen::VectorXd & lb,
    const Eigen::VectorXd & ub,
    const Eigen::VectorXd & x0,
    QuadProg::Method method =QuadProg::Method::ADMM
)

function quasi_newton_method

static std::tuple< bool, Eigen::VectorXd, size_t > quasi_newton_method(
    std::function< double(const Eigen::VectorXd &)> f,
    std::function< Eigen::VectorXd(const Eigen::VectorXd &)> grad,
    Eigen::VectorXd x_init,
    const double tol =1e-6,
    const size_t max_iter =1000
)

準ニュートン法

Parameters:

  • f
  • grad
  • x_init
  • tol
  • max_iter

Return: std::tuple

function steepest_descent_method

static std::tuple< bool, Eigen::VectorXd, size_t > steepest_descent_method(
    std::function< double(const Eigen::VectorXd &)> f,
    std::function< Eigen::VectorXd(const Eigen::VectorXd &)> grad,
    Eigen::VectorXd x_init,
    const double tol =1e-6,
    const size_t max_iter =1000
)

最急降下法

Parameters:

  • f
  • grad
  • x_init
  • tol
  • max_iter

Return: std::tuple

function a_star

static std::vector< Eigen::Vector2i > a_star(
    const Eigen::Vector2i & start,
    const Eigen::Vector2i & end,
    const Eigen::MatrixXi & map
)

A*法

Parameters:

  • start
  • end
  • map

Return: std::vector

function fmt_star

template <class EigenVector ,
class Map >
static std::vector< EigenVector > fmt_star(
    const Map & map,
    const EigenVector & x_init,
    const EigenVector & x_goal,
    const FMTStarConfig & config =FMTStarConfig()
)

function normalized_mjm_position

static double normalized_mjm_position(
    double t
)

function normalized_mjm_velocity

static double normalized_mjm_velocity(
    double t
)

function normalized_mjm_acceleration

static double normalized_mjm_acceleration(
    double t
)

function normalized_mjm_jerk

static double normalized_mjm_jerk(
    double t
)

function wave_propagation

std::vector< Eigen::Vector2i > wave_propagation(
    const Eigen::Vector2i & start,
    const Eigen::Vector2i & end,
    const Eigen::MatrixXi & map
)

Wave propagation法

Parameters:

  • start
  • end
  • map

Return: std::vector

function bode

static std::tuple< std::vector< double >, std::vector< double > > bode(
    TransferFunction & tf,
    const std::vector< double > & omegas =logspace(-2, 2, 500),
    bool gain_db_mode =true,
    bool phase_deg_mode =true
)

ボード線図の応答を計算する

Parameters:

  • tf
  • omegas
  • gain_db_mode
  • phase_deg_mode

Return: std::tuple, std::vector\>

function integrate_forward_euler

template <class T >
static T integrate_forward_euler(
    double dt,
    const T & x,
    const T & u,
    std::function< T(const T &, const T &)> dynamics
)

function integrate_modified_euler

template <class T >
static T integrate_modified_euler(
    double dt,
    const T & x,
    const T & u,
    std::function< T(const T &, const T &)> dynamics
)

function integrate_rk4

template <class T >
static T integrate_rk4(
    double dt,
    const T & x,
    const T & u,
    std::function< T(const T &, const T &)> dynamics
)

function nyquist

static std::tuple< std::vector< double >, std::vector< double > > nyquist(
    TransferFunction & tf,
    const std::vector< double > & omegas =logspace(-2, 2, 500)
)

ナイキスト線図の応答を計算する

Parameters:

  • tf
  • omegas

Return: std::tuple, std::vector\>

function operator<<

static std::ostream & operator<<(
    std::ostream & os,
    const Polynomial & v
)

function make_feedback_system

template <class CONTROLLER_T ,
class SYSTEM_T >
static SisoFeedbackSystem make_feedback_system(
    CONTROLLER_T & controller,
    SYSTEM_T & system
)

function set_controller

static void set_controller(
    SisoFeedbackSystem::func_list_t & fn,
    PID & controller
)

function set_controller

static void set_controller(
    SisoFeedbackSystem::func_list_t & fn,
    NctfController & controller
)

function set_system

static void set_system(
    SisoFeedbackSystem::func_list_t & fn,
    TransferFunction & system
)

function tf2ss

StateSpaceSystem tf2ss(
    const TransferFunction & tf
)

function impulse

static std::tuple< std::vector< double >, std::vector< double > > impulse(
    const std::function< double(double)> & sys,
    double dt,
    double time
)

インパルス応答を求める

Parameters:

  • sys
  • dt
  • time

Return: std::tuple, std::vector\>

function impulse

template <class SysType ,
typename std::enable_if< internal::is_system_class< SysType >::value >::type *  =nullptr>
static std::tuple< std::vector< double >, std::vector< double > > impulse(
    SysType & sys,
    double time
)

function step

static std::tuple< std::vector< double >, std::vector< double > > step(
    const std::function< double(double)> & sys,
    double dt,
    double time,
    const double gain =1.0
)

ステップ応答を求める

Parameters:

  • sys
  • dt
  • time
  • gain

Return: std::tuple, std::vector\>

function step

template <class SysType ,
typename std::enable_if< internal::is_system_class< SysType >::value >::type *  =nullptr>
static std::tuple< std::vector< double >, std::vector< double > > step(
    SysType & sys,
    double time,
    const double gain =1.0
)

function step

template <class FilterType ,
typename std::enable_if< internal::is_pure_filter_class< FilterType >::value >::type *  =nullptr>
static std::tuple< std::vector< double >, std::vector< double > > step(
    FilterType & filter,
    double time,
    const double gain =1.0
)

function lsim

template <class DataIterativeType >
static std::tuple< DataIterativeType, DataIterativeType > lsim(
    const std::function< double(double)> & sys,
    double dt,
    const DataIterativeType & input
)

任意の入力による応答を求める

Parameters:

  • sys
  • dt
  • input

Template Parameters:

  • DataIterativeType

Return: std::tuple

function lsim

template <class DataIterativeType ,
class SysType ,
typename std::enable_if< internal::is_system_class< SysType >::value >::type *  =nullptr>
static std::tuple< DataIterativeType, DataIterativeType > lsim(
    SysType sys,
    const DataIterativeType & input,
    bool skip_reset =false
)

function lsim

template <class DataIterativeType >
static std::tuple< DataIterativeType, DataIterativeType > lsim(
    TransferFunction::tf_t sys_config,
    const DataIterativeType & input
)

function lsim

template <class DataIterativeType >
static std::tuple< DataIterativeType, DataIterativeType, DataIterativeType > lsim(
    SisoFeedbackSystem sys,
    const DataIterativeType & input,
    bool skip_reset =false
)

function lsim_y

template <class DataIterativeType >
static DataIterativeType lsim_y(
    const std::function< double(double)> & sys,
    double dt,
    const DataIterativeType & input
)

function lsim_y

template <class DataIterativeType ,
class SysType ,
typename std::enable_if< internal::is_system_class< SysType >::value >::type *  =nullptr>
static DataIterativeType lsim_y(
    SysType sys,
    const DataIterativeType & input,
    bool skip_reset =false
)

function lsim_y

template <class DataIterativeType >
static DataIterativeType lsim_y(
    TransferFunction::tf_t sys_config,
    const DataIterativeType & input
)

function lsim_uy

template <class DataIterativeType >
static std::tuple< DataIterativeType, DataIterativeType > lsim_uy(
    SisoFeedbackSystem sys,
    const DataIterativeType & input,
    bool skip_reset =false
)

function lsim_y

template <class DataIterativeType >
static DataIterativeType lsim_y(
    SisoFeedbackSystem sys,
    const DataIterativeType & input,
    bool skip_reset =false
)

function conv_factor

template <class UnitDimType ,
int FromTag,
int ToTag,
bool IsNormalTag =tag::is_normal_tag<FromTag>::value && tag::is_normal_tag<ToTag>::value>
constexpr double conv_factor()

function operator*

template <typename T1 ,
typename T2 ,
class UnitDim ,
class Prefix ,
int Tag>
constexpr auto operator*(
    const Unit< T1, UnitDim, Prefix, Tag > & l_value,
    const T2 & r_value
)

function operator*

template <typename T1 ,
typename T2 ,
class UnitDim ,
class Prefix ,
int Tag>
constexpr auto operator*(
    const T1 & l_value,
    const Unit< T2, UnitDim, Prefix, Tag > & r_value
)

function operator/

template <typename T1 ,
typename T2 ,
class UnitDim ,
class Prefix ,
int Tag>
constexpr auto operator/(
    const T1 & l_value,
    const Unit< T2, UnitDim, Prefix, Tag > & r_value
)

function operator/

template <typename T1 ,
typename T2 ,
class UnitDim ,
class Prefix ,
int Tag>
constexpr auto operator/(
    const Unit< T1, UnitDim, Prefix, Tag > & l_value,
    const T2 & r_value
)

function operator*

template <typename T1 ,
class UnitDim1 ,
class Prefix1 ,
int Tag1,
typename T2 ,
class UnitDim2 ,
class Prefix2 ,
int Tag2>
constexpr auto operator*(
    const Unit< T1, UnitDim1, Prefix1, Tag1 > & lhl,
    const Unit< T2, UnitDim2, Prefix2, Tag2 > & rhl
)

function operator/

template <typename T1 ,
class UnitDim1 ,
class Prefix1 ,
int Tag1,
typename T2 ,
class UnitDim2 ,
class Prefix2 ,
int Tag2>
constexpr auto operator/(
    const Unit< T1, UnitDim1, Prefix1, Tag1 > & lhl,
    const Unit< T2, UnitDim2, Prefix2, Tag2 > & rhl
)

function operator+

template <typename T ,
class UnitDim ,
class Prefix1 ,
class Prefix2 ,
int Tag>
constexpr auto operator+(
    const Unit< T, UnitDim, Prefix1, Tag > & lhl,
    const Unit< T, UnitDim, Prefix2, Tag > & rhl
)

function operator-

template <typename T ,
class UnitDim ,
class Prefix1 ,
class Prefix2 ,
int Tag>
constexpr auto operator-(
    const Unit< T, UnitDim, Prefix1, Tag > & lhl,
    const Unit< T, UnitDim, Prefix2, Tag > & rhl
)

function shift_left

template <class ForwardIterator >
constexpr ForwardIterator shift_left(
    ForwardIterator first,
    ForwardIterator last,
    typename std::iterator_traits< ForwardIterator >::difference_type n
)

Substitute shift_left function in C++20 alogorithm.

Parameters:

  • first
  • last
  • n

Template Parameters:

  • ForwardIterator

Return: constexpr ForwardIterator

function shift_right

template <class ForwardIterator >
constexpr ForwardIterator shift_right(
    ForwardIterator first,
    ForwardIterator last,
    typename std::iterator_traits< ForwardIterator >::difference_type n
)

Substitute shift_right function in C++20 alogorithm.

Parameters:

  • first
  • last
  • n

Template Parameters:

  • ForwardIterator

Return: constexpr ForwardIterator

function c_format

template <typename... Args>
std::string c_format(
    const std::string & format,
    Args const &... args
)

printfと同様の操作でstd::stringを得る

Parameters:

  • format
  • args

Template Parameters:

  • Args

Return: std::string

function isPositiveDefinite

template <typename MatrixType >
bool isPositiveDefinite(
    const MatrixType & matrix
)

function pseudo_inverse

template <typename MatrixType >
MatrixType pseudo_inverse(
    const MatrixType & a,
    double epsilon =std::numeric_limits< double >::epsilon()
)

function sr_inverse

template <typename MatrixType >
MatrixType sr_inverse(
    const MatrixType & a,
    double w0 =1e-2,
    Eigen::MatrixXd W =Eigen::MatrixXd()
)

function in_range_open

template <typename T >
static constexpr bool in_range_open(
    T x,
    T min,
    T max
)

Parameters:

  • x
  • min
  • max

Template Parameters:

  • T

Return:

  • true
  • false

function in_range

template <typename T >
static constexpr bool in_range(
    T x,
    T min,
    T max
)

Parameters:

  • x
  • min
  • max

Template Parameters:

  • T

Return:

  • true
  • false

function sgn

template <typename T >
static constexpr int sgn(
    T x
)

Parameters:

  • x

Template Parameters:

  • T

Return: constexpr int

function radians

template <typename T >
static constexpr double radians(
    T deg
)

Parameters:

  • deg

Template Parameters:

  • T

Return: constexpr double

function degrees

template <typename T >
static constexpr double degrees(
    T rad
)

Parameters:

  • rad

Template Parameters:

  • T

Return: constexpr double

function normalize_angle_positive

static inline double normalize_angle_positive(
    double angle
)

Parameters:

  • angle

Return: double

function normalize_angle

static inline double normalize_angle(
    double angle
)

Parameters:

  • angle

Return: double

function shortest_angular_distance

static inline double shortest_angular_distance(
    double from,
    double to
)

Parameters:

  • from
  • to

Return: double

function nearest_angle

static inline double nearest_angle(
    double from,
    double to
)

function square

inline constexpr double square(
    const double x
)

function cubic

inline constexpr double cubic(
    const double x
)

function lerp

inline constexpr double lerp(
    const double a,
    const double b,
    const double t
)

function approx_eq

inline constexpr double approx_eq(
    const double a,
    const double b
)

function approx_zero

inline constexpr double approx_zero(
    const double a
)

function gererate_random

template <typename Real  =double>
static Real gererate_random()

0.0〜1.0までの一様分布の乱数を生成する

Template Parameters:

  • Real 浮動小数点型

Return: Real 乱数

function arrange

template <class DataType  =std::vector<double>>
static DataType arrange(
    double start,
    double end,
    double step =1.0
)

startからendまでstepずつ増える点のベクトルを返す

Parameters:

  • start
  • end
  • step

Return: std::vector

function linspace

template <class DataType  =std::vector<double>>
static DataType linspace(
    double start,
    double end,
    size_t n =100
)

startからendまでをn分割した点のベクトルを返す

Parameters:

  • start
  • end
  • n

Return: std::vector

function implusespace

template <class DataType  =std::vector<double>>
static DataType implusespace(
    double time,
    double dt =1.0
)

function stepspace

template <class DataType  =std::vector<double>>
static DataType stepspace(
    double time,
    double dt =1.0
)

function logspace

template <class DataType  =std::vector<double>>
static DataType logspace(
    double start,
    double end,
    size_t n =100
)

10^startから10^endまで対数的に等間隔なn個の点のベクトルを返す

Parameters:

  • start
  • end
  • n

Return: std::vector

function funcspace

static std::vector< double > funcspace(
    std::function< double(size_t, size_t)> f,
    size_t n =100
)

Parameters:

  • f
  • n

Return: std::vector

function sinspace

static std::vector< double > sinspace(
    double a,
    double b,
    size_t n =100
)

Attributes Documentation

variable RZ_735VA_9517

constexpr DCMotorParam RZ_735VA_9517 = generate_mabuchi_motor_param(
    18_V,
    20400_rpm,
    2.8_A,
    1265_mmNm,
    156_A,
    7.088e-5_H,
    2.46e-5 
);

variable RS_775_8513

constexpr DCMotorParam RS_775_8513 = generate_mabuchi_motor_param(
    18_V,
    18400_rpm,
    2.7_A,
    1216_mmNm, 
    130_A,
    5.872e-5_H,
    2.46e-5 
);

variable RS_555VC_5524

constexpr DCMotorParam RS_555VC_5524 = generate_mabuchi_motor_param(
    12_V,
    9100_rpm,
    0.8_A,
    450_mmNm, 
    36_A,
    1.820e-4_H,
    2.46e-5 
);

variable RS_380PH_4045

constexpr DCMotorParam RS_380PH_4045 = generate_mabuchi_motor_param(
    6_V,
    12500_rpm,
    0.56_A,
    77.5_mmNm, 
    18_A,
    1.521e-4_H,
    2.46e-5 
);

variable RS_385PH_2465

constexpr DCMotorParam RS_385PH_2465 = generate_mabuchi_motor_param(
    18_V,
    17500_rpm,
    0.23_A,
    76.9_mmNm, 
    7.91_A,
    1.521e-4_H,
    2.46e-5 
);

variable RE_65_250_18

constexpr DCMotorParam RE_65_250_18 = generate_maxon_brush_motor_param(
    18_V,
    3520_rpm,
    755_mA,
    0.0609_ohm,
    0.0226_mH,
    46e-3_Nm_per_A,
    1.38
);

variable IG42C_4

constexpr GearHeadParam IG42C_4 = { 1/4.0f, 0.8f };

variable IG42C_14

constexpr GearHeadParam IG42C_14 = { 1/14.0f, 0.7f };

variable IG42C_17

constexpr GearHeadParam IG42C_17 = { 1/17.0f, 0.7f };

variable IG32_27

constexpr GearHeadParam IG32_27 = { 1/27.0f, 0.7f };

variable IG32_71

constexpr GearHeadParam IG32_71 = { 1/71.0f, 0.6f };

variable IG32_100

constexpr GearHeadParam IG32_100 = { 1/100.0f, 0.6f };

variable PI

constexpr double PI = 3.1415926535897932384626433832795;

円周率

variable HALF_PI

constexpr double HALF_PI = PI / 2.0;

円周率 / 2

variable TWO_PI

constexpr double TWO_PI = PI * 2.0;

円周率 * 2

variable DEG_TO_RAD

constexpr double DEG_TO_RAD = PI / 180.0;

degree -> radians

variable RAD_TO_DEG

constexpr double RAD_TO_DEG = 180.0 / PI;

radian -> degree

variable EULER

constexpr double EULER = 2.718281828459045235360287471352;

ネイピア数

variable GRAVITY

constexpr double GRAVITY = 9.807;

重力

variable Nm2gfm

constexpr double Nm2gfm = (1/GRAVITY);

variable gfm2Nm

constexpr double gfm2Nm = GRAVITY;

variable mNm2gfcm

constexpr double mNm2gfcm = (Nm2gfm * 100);

variable gfcm2mNm

constexpr double gfcm2mNm = (gfm2Nm / 100);

Updated on 2024-05-28 at 06:55:39 +0000