forked from RobotLocomotion/drake
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Remove -inl patterns in systems/analysis and move implementations to …
…cc files (RobotLocomotion#12657)
- Loading branch information
Showing
37 changed files
with
3,633 additions
and
3,654 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file was deleted.
Oops, something went wrong.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,13 +1,5 @@ | ||
| #include "drake/systems/analysis/antiderivative_function.h" | ||
| #include "drake/systems/analysis/antiderivative_function-inl.h" | ||
|
|
||
| #include "drake/common/default_scalars.h" | ||
|
|
||
| namespace drake { | ||
| namespace systems { | ||
|
|
||
| DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS( | ||
| class AntiderivativeFunction); | ||
| class drake::systems::AntiderivativeFunction) | ||
|
|
||
| } // namespace systems | ||
| } // namespace drake |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,7 +1,172 @@ | ||
| #include "drake/systems/analysis/bogacki_shampine3_integrator.h" | ||
|
|
||
| #include "drake/common/autodiff.h" | ||
| #include <cmath> | ||
| #include <stdexcept> | ||
|
|
||
| #include "drake/common/drake_assert.h" | ||
| #include "drake/common/unused.h" | ||
|
|
||
| namespace drake { | ||
| namespace systems { | ||
|
|
||
| /* | ||
| * Bogacki-Shampine-specific initialization function. | ||
| * @throws std::logic_error if *neither* the initial step size target nor the | ||
| * maximum step size have been set before calling. | ||
| */ | ||
| template <class T> | ||
| void BogackiShampine3Integrator<T>::DoInitialize() { | ||
| using std::isnan; | ||
| const double kDefaultAccuracy = 1e-3; // Good for this particular integrator. | ||
| const double kLoosestAccuracy = 1e-1; // Integrator specific. | ||
| const double kMaxStepFraction = 0.1; // Fraction of max step size for | ||
| // less aggressive first step. | ||
|
|
||
| // Set an artificial step size target, if not set already. | ||
| if (isnan(this->get_initial_step_size_target())) { | ||
| // Verify that maximum step size has been set. | ||
| if (isnan(this->get_maximum_step_size())) | ||
| throw std::logic_error("Neither initial step size target nor maximum " | ||
| "step size has been set!"); | ||
|
|
||
| this->request_initial_step_size_target( | ||
| this->get_maximum_step_size() * kMaxStepFraction); | ||
| } | ||
|
|
||
| // Sets the working accuracy to a good value. | ||
| double working_accuracy = this->get_target_accuracy(); | ||
|
|
||
| // If the user asks for accuracy that is looser than the loosest this | ||
| // integrator can provide, use the integrator's loosest accuracy setting | ||
| // instead. | ||
| if (working_accuracy > kLoosestAccuracy) | ||
| working_accuracy = kLoosestAccuracy; | ||
| else if (isnan(working_accuracy)) | ||
| working_accuracy = kDefaultAccuracy; | ||
| this->set_accuracy_in_use(working_accuracy); | ||
| } | ||
|
|
||
| template <class T> | ||
| bool BogackiShampine3Integrator<T>::DoStep(const T& h) { | ||
| using std::abs; | ||
| Context<T>& context = *this->get_mutable_context(); | ||
| const T t0 = context.get_time(); | ||
|
|
||
| // CAUTION: This is performance-sensitive inner loop code that uses dangerous | ||
| // long-lived references into state and cache to avoid unnecessary copying and | ||
| // cache invalidation. Be careful not to insert calls to methods that could | ||
| // invalidate any of these references before they are used. | ||
|
|
||
| // We use Butcher tableau notation with labels for each coefficient: | ||
| // 0 (c1) | | ||
| // 1/2 (c2) | 1/2 (a21) | ||
| // 3/4 (c3) | 0 (a31) 3/4 (a32) | ||
| // 1 (c4) | 2/9 (a41) 1/3 (a42) 4/9 (a43) | ||
| // --------------------------------------------------------------------------- | ||
| // 2/9 (b1) 1/3 (b2) 4/9 (b3) 0 (b4) | ||
| // 7/24 (d1) 1/4 (d2) 1/3 (d3) 1/8 (d4) | ||
|
|
||
| // Save the continuous state at t₀. | ||
| context.get_continuous_state_vector().CopyToPreSizedVector(&save_xc0_); | ||
|
|
||
| // Evaluate the derivative at t₀, xc₀. | ||
| derivs1_->get_mutable_vector().SetFrom( | ||
| this->EvalTimeDerivatives(context).get_vector()); | ||
| const VectorBase<T>& k1 = derivs1_->get_vector(); | ||
|
|
||
| // Cache: k1 references a *copy* of the derivative result so is immune | ||
| // to subsequent evaluations. | ||
|
|
||
| // Compute the first intermediate state and derivative (i.e., Stage 2). | ||
| // This call marks t- and xc-dependent cache entries out of date, including | ||
| // the derivative cache entry. Note that xc is a live reference into the | ||
| // context -- subsequent changes through that reference are unobservable so | ||
| // will require manual out-of-date notifications. | ||
| const double c2 = 1.0 / 2; | ||
| const double a21 = 1.0 / 2; | ||
| VectorBase<T>& xc = context.SetTimeAndGetMutableContinuousStateVector( | ||
| t0 + c2 * h); | ||
| xc.PlusEqScaled(a21 * h, k1); | ||
|
|
||
| // Evaluate the derivative (denoted k2) at t₀ + c2 * h, xc₀ + a21 * h * k1. | ||
| derivs2_->get_mutable_vector().SetFrom( | ||
| this->EvalTimeDerivatives(context).get_vector()); | ||
| const VectorBase<T>& k2 = derivs2_->get_vector(); // xcdot⁽ᵃ⁾ | ||
|
|
||
| // Cache: k2 references a *copy* of the derivative result so is immune | ||
| // to subsequent evaluations. | ||
|
|
||
| // Compute the second intermediate state and derivative (i.e., Stage 3). | ||
| const double c3 = 3.0 / 4; | ||
| const double a31 = 0.0; | ||
| const double a32 = 3.0 / 4; | ||
| // This call marks t- and xc-dependent cache entries out of date, including | ||
| // the derivative cache entry. (We already have the xc reference but must | ||
| // issue the out-of-date notification here since we're about to change it.) | ||
| context.SetTimeAndNoteContinuousStateChange(t0 + c3 * h); | ||
|
|
||
| // Evaluate the derivative (denoted k3) at t₀ + c3 * h, | ||
| // xc₀ + a31 * h * k1 + a32 * h * k2. | ||
| // Note that a31 is zero, so we leave that term out. | ||
| unused(a31); | ||
| xc.SetFromVector(save_xc0_); // Restore xc ← xc₀. | ||
| xc.PlusEqScaled({{a32 * h, k2}}); | ||
| derivs3_->get_mutable_vector().SetFrom( | ||
| this->EvalTimeDerivatives(context).get_vector()); | ||
| const VectorBase<T>& k3 = derivs3_->get_vector(); | ||
|
|
||
| // Compute the propagated solution (we're able to do this because b1 = a41, | ||
| // b2 = a42, b3 = a43, and b4 = 0). | ||
| const double c4 = 1.0; | ||
| const double a41 = 2.0 / 9; | ||
| const double a42 = 1.0 / 3; | ||
| const double a43 = 4.0 / 9; | ||
| // This call marks t- and xc-dependent cache entries out of date, including | ||
| // the derivative cache entry. (We already have the xc reference but must | ||
| // issue the out-of-date notification here since we're about to change it.) | ||
| context.SetTimeAndNoteContinuousStateChange(t0 + c4 * h); | ||
|
|
||
| // Evaluate the derivative (denoted k4) at t₀ + c4 * h, xc₀ + a41 * h * k1 + | ||
| // a42 * h * k2 + a43 * h * k3. This will be used to compute the second | ||
| // order solution. | ||
| xc.SetFromVector(save_xc0_); // Restore xc ← xc₀. | ||
| xc.PlusEqScaled({{a41 * h, k1}, {a42 * h, k2}, {a43 * h, k3}}); | ||
| const ContinuousState<T>& derivs4 = this->EvalTimeDerivatives(context); | ||
| const VectorBase<T>& k4 = derivs4.get_vector(); | ||
|
|
||
| // WARNING: k4 is a live reference into the cache. Be careful of adding | ||
| // code below that modifies the context until after k4 is used below. In fact, | ||
| // it is best not to modify the context from here on out, as modifying the | ||
| // context will effectively destroy the FSAL benefit that this integrator | ||
| // provides. | ||
|
|
||
| // Compute the second order solution used for the error estimate and then | ||
| // the error estimate itself. The first part of this formula (the part that | ||
| // uses the d coefficients) computes the second error solution. The last part | ||
| // subtracts the third order propagated solution from that second order | ||
| // solution, thereby yielding the error estimate. | ||
| const double d1 = 7.0 / 24; | ||
| const double d2 = 1.0 / 4; | ||
| const double d3 = 1.0 / 3; | ||
| const double d4 = 1.0 / 8; | ||
| err_est_vec_->SetZero(); | ||
| err_est_vec_->PlusEqScaled({{(a41 - d1) * h, k1}, | ||
| {(a42 - d2) * h, k2}, | ||
| {(a43 - d3) * h, k3}, | ||
| {(-d4) * h, k4}}); | ||
|
|
||
| // If the size of the system has changed, the error estimate will no longer | ||
| // be sized correctly. Verify that the error estimate is the correct size. | ||
| DRAKE_DEMAND(this->get_error_estimate()->size() == xc.size()); | ||
| this->get_mutable_error_estimate()->SetFromVector(err_est_vec_-> | ||
| CopyToVector().cwiseAbs()); | ||
|
|
||
| // Bogacki-Shampine always succeeds in taking its desired step. | ||
| return true; | ||
| } | ||
|
|
||
| } // namespace systems | ||
| } // namespace drake | ||
|
|
||
| DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_NONSYMBOLIC_SCALARS( | ||
| class ::drake::systems::BogackiShampine3Integrator) | ||
|
|
Oops, something went wrong.