commit 94ceefc05708badbc53dc1492b52ec26c0f0dfab Author: TJU_Lu Date: Mon Jun 16 23:18:04 2025 +0800 YOPO diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ebf8d0e --- /dev/null +++ b/.gitignore @@ -0,0 +1,16 @@ +.idea/ + +Controller/devel/ +Controller/build/ +Controller/.catkin_workspace + +Simulator/devel/ +Simulator/build/ +Simulator/logs/ +Simulator/.catkin_tools/ + +YOPO/saved/* +dataset/ +yopo_sim/ + +!YOPO/saved/YOPO_1/ \ No newline at end of file diff --git a/Controller/src/.gitignore b/Controller/src/.gitignore new file mode 100644 index 0000000..0b68a89 --- /dev/null +++ b/Controller/src/.gitignore @@ -0,0 +1 @@ +/so3_control/logger/*.csv \ No newline at end of file diff --git a/Controller/src/CMakeLists.txt b/Controller/src/CMakeLists.txt new file mode 100644 index 0000000..cd58121 --- /dev/null +++ b/Controller/src/CMakeLists.txt @@ -0,0 +1,69 @@ +# toplevel CMakeLists.txt for a catkin workspace +# catkin/cmake/toplevel.cmake + +cmake_minimum_required(VERSION 3.0.2) + +project(Project) + +set(CATKIN_TOPLEVEL TRUE) + +# search for catkin within the workspace +set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}") +execute_process(COMMAND ${_cmd} + RESULT_VARIABLE _res + OUTPUT_VARIABLE _out + ERROR_VARIABLE _err + OUTPUT_STRIP_TRAILING_WHITESPACE + ERROR_STRIP_TRAILING_WHITESPACE +) +if(NOT _res EQUAL 0 AND NOT _res EQUAL 2) + # searching fot catkin resulted in an error + string(REPLACE ";" " " _cmd_str "${_cmd}") + message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}") +endif() + +# include catkin from workspace or via find_package() +if(_res EQUAL 0) + set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake") + # include all.cmake without add_subdirectory to let it operate in same scope + include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE) + add_subdirectory("${_out}") + +else() + # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument + # or CMAKE_PREFIX_PATH from the environment + if(NOT DEFINED CMAKE_PREFIX_PATH) + if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "") + if(NOT WIN32) + string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) + else() + set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH}) + endif() + endif() + endif() + + # list of catkin workspaces + set(catkin_search_path "") + foreach(path ${CMAKE_PREFIX_PATH}) + if(EXISTS "${path}/.catkin") + list(FIND catkin_search_path ${path} _index) + if(_index EQUAL -1) + list(APPEND catkin_search_path ${path}) + endif() + endif() + endforeach() + + # search for catkin in all workspaces + set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE) + find_package(catkin QUIET + NO_POLICY_SCOPE + PATHS ${catkin_search_path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + unset(CATKIN_TOPLEVEL_FIND_PACKAGE) + + if(NOT catkin_FOUND) + message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.") + endif() +endif() + +catkin_workspace() diff --git a/Controller/src/readme.md b/Controller/src/readme.md new file mode 100644 index 0000000..c4ea472 --- /dev/null +++ b/Controller/src/readme.md @@ -0,0 +1,35 @@ +# UAV Simulator + +### Build: +```bash +catkin_make +``` + +### MODE 1. PID Position Controller and Simulator +Work with traditional planner +``` +source devel/setup.bash +roslaunch so3_quadrotor_simulator simulator_position_control.launch +``` + +### MODE 2. Attitude Controller with Disturbance Observer +Work with our learning-based planner (without position controller) +``` +source devel/setup.bash +roslaunch so3_quadrotor_simulator simulator_attitude_control.launch +``` + +### Others +pub disturbance +``` +rostopic pub /force_disturbance +``` + +takeoff and land (used in realworld flight) +``` +rosservice call /network_controller_node/takeoff_land +``` + +### acknowledgment + +This repo is modified from https://github.com/HKUST-Aerial-Robotics/Fast-Planner, thanks for their excellent work! \ No newline at end of file diff --git a/Controller/src/so3_control/CMakeLists.txt b/Controller/src/so3_control/CMakeLists.txt new file mode 100755 index 0000000..c14ebb1 --- /dev/null +++ b/Controller/src/so3_control/CMakeLists.txt @@ -0,0 +1,49 @@ +cmake_minimum_required(VERSION 2.8.3) +project(so3_control) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + nav_msgs + quadrotor_msgs + tf + nodelet + cmake_utils +) + +set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake) + +catkin_package() + +find_package(Eigen3 REQUIRED) + +include_directories(${EIGEN3_INCLUDE_DIR}) + +include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +add_library(SO3Control src/SO3Control.cpp) +add_library(so3_control_nodelet src/so3_control_nodelet.cpp) + +target_link_libraries(so3_control_nodelet + ${catkin_LIBRARIES} + SO3Control +) + +# 普通PID控制器 +add_executable(control_example src/control_example.cpp) +target_link_libraries(control_example + ${catkin_LIBRARIES} +) + +# 接收加速度直接转为姿态，并叠加干扰观测器作为内环输入 +add_executable(network_control_node src/NetworkControl.cpp src/network_control_node.cpp) +target_link_libraries(network_control_node + ${catkin_LIBRARIES} + SO3Control +) diff --git a/Controller/src/so3_control/config/corrections_hummingbird.yaml b/Controller/src/so3_control/config/corrections_hummingbird.yaml new file mode 100755 index 0000000..aeadaab --- /dev/null +++ b/Controller/src/so3_control/config/corrections_hummingbird.yaml @@ -0,0 +1,4 @@ +corrections: + z: 0.0 + r: 0.0 + p: 0.0 diff --git a/Controller/src/so3_control/config/corrections_pelican.yaml b/Controller/src/so3_control/config/corrections_pelican.yaml new file mode 100755 index 0000000..aeadaab --- /dev/null +++ b/Controller/src/so3_control/config/corrections_pelican.yaml @@ -0,0 +1,4 @@ +corrections: + z: 0.0 + r: 0.0 + p: 0.0 diff --git a/Controller/src/so3_control/config/gains.yaml b/Controller/src/so3_control/config/gains.yaml new file mode 100755 index 0000000..ffde85a --- /dev/null +++ b/Controller/src/so3_control/config/gains.yaml @@ -0,0 +1,6 @@ +# Gains for Laser-based Pelican +gains: + pos: {x: 5.0, y: 5.0, z: 15.0} + vel: {x: 5.0, y: 5.0, z: 5.0} + rot: {x: 3.5, y: 3.5, z: 1.0} + ang: {x: 0.4, y: 0.4, z: 0.1} diff --git a/Controller/src/so3_control/config/gains_hummingbird.yaml b/Controller/src/so3_control/config/gains_hummingbird.yaml new file mode 100755 index 0000000..a01400f --- /dev/null +++ b/Controller/src/so3_control/config/gains_hummingbird.yaml @@ -0,0 +1,6 @@ +# Vision Gain for Hummingbird +gains: + pos: {x: 2.0, y: 2.0, z: 3.5} + vel: {x: 1.8, y: 1.8, z: 2.0} + rot: {x: 1.0, y: 1.0, z: 0.3} + ang: {x: 0.07, y: 0.07, z: 0.02} \ No newline at end of file diff --git a/Controller/src/so3_control/config/gains_pelican.yaml b/Controller/src/so3_control/config/gains_pelican.yaml new file mode 100755 index 0000000..ffde85a --- /dev/null +++ b/Controller/src/so3_control/config/gains_pelican.yaml @@ -0,0 +1,6 @@ +# Gains for Laser-based Pelican +gains: + pos: {x: 5.0, y: 5.0, z: 15.0} + vel: {x: 5.0, y: 5.0, z: 5.0} + rot: {x: 3.5, y: 3.5, z: 1.0} + ang: {x: 0.4, y: 0.4, z: 0.1} diff --git a/Controller/src/so3_control/include/so3_control/HGDO.h b/Controller/src/so3_control/include/so3_control/HGDO.h new file mode 100644 index 0000000..97b1eb2 --- /dev/null +++ b/Controller/src/so3_control/include/so3_control/HGDO.h @@ -0,0 +1,110 @@ +#ifndef HGDO_H_ +#define HGDO_H_ + +#include "ros/ros.h" +#include +#include + +inline void get_dcm_from_q(Eigen::Matrix3d &dcm, const Eigen::Quaterniond &q) { + float a = q.w(); + float b = q.x(); + float c = q.y(); + float d = q.z(); + float aSq = a*a; + float bSq = b*b; + float cSq = c*c; + float dSq = d*d; + dcm(0, 0) = aSq + bSq - cSq - dSq; + dcm(0, 1) = 2 * (b * c - a * d); + dcm(0, 2) = 2 * (a * c + b * d); + dcm(1, 0) = 2 * (b * c + a * d); + dcm(1, 1) = aSq - bSq + cSq - dSq; + dcm(1, 2) = 2 * (c * d - a * b); + dcm(2, 0) = 2 * (b * d - a * c); + dcm(2, 1) = 2 * (a * b + c * d); + dcm(2, 2) = aSq - bSq - cSq + dSq; +} + +class HGDO +{ +public: + HGDO(){}; + HGDO(double control_dt){ + control_dt_ = control_dt; + }; + + double Sat(double &Input) + { + double D = 1.0; + double abs_input = abs(Input); + if (abs_input <= D) + { + return Input; + } + else + { + return Input / abs_input; + } + } + + // 用这个,放到控制器的定时器和控制器同步,注意有些全局变量在FxTDO + // 模型预测，这个z2_nhgdo作为北西天系，（用来算姿态的）加速度直接加z2_nhgdo作为实际的加速度 + // U_input: 上一时刻期望加速度（控制量姿态对应的） + // vel: 当前时刻的速度 + // dis: 当前时刻干扰返回值,就是3个方向加速度 + void HGDO_ext_force_ob(const Eigen::Vector3d &U_input, const Eigen::Vector3d &vel, Eigen::Vector3d &dis) + { + Eigen::Vector3d dz1, dz2; + Eigen::Vector3d U = U_input; + // U(2) -= g; + for (int i = 0; i < 3; i++) + { + dz1(i) = U(i) + z2_hgdo(i) - (alpha_1 / theta) * (z1_hgdo(i) - vel(i)); + dz2(i) = -(alpha_2 / pow(theta, 2)) * (z1_hgdo(i) - vel(i)); + } + for (int i = 0; i < 3; i++) + { + z1_hgdo(i) += dz1(i) * control_dt_; + z2_hgdo(i) += dz2(i) * control_dt_; + } + dis = z2_hgdo; + } + + // 自适应干扰观测，立文讲先不用 + void AHGDO_ext_force_ob(Eigen::Vector3d &U_input, Eigen::Vector3d &vel, Eigen::Vector3d &dis) + { + Eigen::Vector3d dz1, dz2; + Eigen::Vector3d U = U_input; + // U(2) += g; + for (int i = 0; i < 3; i++) + { + double ob = (z1_nhgdo(i) - vel(i)) / d_bound; + dz1(i) = U(i) + z2_nhgdo(i) - (alpha_1 / theta_1) * (z1_nhgdo(i) - vel(i)) - (alpha_1 * d_bound * (1 / theta_2 - 1 / theta_1)) * Sat(ob); + dz2(i) = -(alpha_2 / pow(theta_1, 2)) * (z1_nhgdo(i) - vel(i)) - (alpha_2 * d_bound * (1 / pow(theta_2, 2) - 1 / pow(theta_2, 2))) * Sat(ob); + } + for (int i = 0; i < 3; i++) + { + z1_nhgdo(i) += dz1(i) * control_dt_; + z2_nhgdo(i) += dz2(i) * control_dt_; + } + dis = z2_nhgdo; + } + +private: + double g = 9.81; + double control_dt_{0.02}; + + Eigen::Vector3d z1_hgdo = Eigen::Vector3d::Zero(); + Eigen::Vector3d z2_hgdo = Eigen::Vector3d::Zero(); + Eigen::Vector3d z1_nhgdo = Eigen::Vector3d::Zero(); + Eigen::Vector3d z2_nhgdo = Eigen::Vector3d::Zero(); + + double theta = 0.2; + double theta_1 = 0.2; + double theta_2 = 0.5; + double alpha_1 = 3.0; + double alpha_2 = 2.0; + double d_bound = 0.01; +}; + +#endif \ No newline at end of file diff --git a/Controller/src/so3_control/include/so3_control/NetworkControl.h b/Controller/src/so3_control/include/so3_control/NetworkControl.h new file mode 100644 index 0000000..a18bb38 --- /dev/null +++ b/Controller/src/so3_control/include/so3_control/NetworkControl.h @@ -0,0 +1,156 @@ +#ifndef NETWORK_CONTROL_H_ +#define NETWORK_CONTROL_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define ONE_G 9.81 + +class NetworkControl +{ +public: + NetworkControl(ros::NodeHandle &node){ + nh_ = node; + + so3_controller_.setMass(mass_); + disturbance_observer_ = HGDO(control_dt_); + + nh_.param("is_simulation", is_simulation_, false); + nh_.param("use_disturbance_observer", use_disturbance_observer_, false); + nh_.param("hover_thrust", hover_thrust_, 0.4); + nh_.param("kx_xy", kx_xy, 5.7); + nh_.param("kx_z", kx_z, 6.2); + nh_.param("kv_xy", kv_xy, 3.4); + nh_.param("kv_z", kv_z, 4.0); + nh_.param("record_log", record_log_, false); + nh_.param("logger_file_name", logger_file_name, std::string("/home/lu/")); + printf("kx: (%f, %f, %f), kv: (%f, %f, %f) \n", kx_xy, kx_xy, kx_z, kv_xy, kv_xy, kv_z); + + so3_command_pub_ = nh_.advertise("so3_cmd", 10); + position_cmd_sub_ = nh_.subscribe("position_cmd", 1, &NetworkControl::network_cmd_callback, this, ros::TransportHints().tcpNoDelay()); + odom_sub_ = nh_.subscribe("odom", 1, &NetworkControl::odom_callback, this, ros::TransportHints().tcpNoDelay()); + imu_sub_ = nh_.subscribe("imu", 1, &NetworkControl::imu_callback, this, ros::TransportHints().tcpNoDelay()); + + takeoff_land_control_timer = nh_.createTimer(ros::Duration(control_dt_), &NetworkControl::timerCallback, this); + + takeoff_land_srv = nh_.advertiseService("takeoff_land", &NetworkControl::takeoff_land_srv_handle, this); + + if (is_simulation_) { + ros::Duration(2.0).sleep(); + std::thread(&NetworkControl::simulateTakeoff, this).detach(); + } + + }; + + ~NetworkControl(){}; + +private: + ros::NodeHandle nh_; + ros::Publisher so3_command_pub_; + ros::Subscriber position_cmd_sub_, odom_sub_, imu_sub_; + ros::ServiceServer takeoff_land_srv; + ros::Timer takeoff_land_control_timer; + std::mutex mutex_; + + double mass_ = 0.98; + double control_dt_ = 0.02; + double hover_thrust_ = 0.4; + double kx_xy, kx_z, kv_xy, kv_z; + + double cur_yaw_ = 0; + Eigen::Vector3d cur_pos_ = Eigen::Vector3d(0, 0, 0); + Eigen::Vector3d cur_vel_ = Eigen::Vector3d(0, 0, 0); + Eigen::Vector3d cur_acc_ = Eigen::Vector3d(0, 0, 0); + Eigen::Quaterniond cur_att_ = Eigen::Quaterniond::Identity(); + Eigen::Vector3d dis_acc_ = Eigen::Vector3d(0, 0, 0); + Eigen::Vector3d last_des_acc_ = Eigen::Vector3d(0, 0, 0); + double last_thrust_ = 0; + + Eigen::Vector3d des_pos_ = Eigen::Vector3d(0, 0, 0); + Eigen::Vector3d des_vel_ = Eigen::Vector3d(0, 0, 0); + Eigen::Vector3d des_acc_ = Eigen::Vector3d(0, 0, 0); + double des_yaw_ = 0; + double des_yaw_dot_ = 0; + + bool is_simulation_ = false; + bool state_init_ = false; + bool ref_valid_ = false; + bool ctrl_valid_ = false; + bool position_cmd_init_ = false; + bool takeoff_cmd_init_ = false; + bool use_disturbance_observer_ = false; + bool record_log_ = false; + + SO3Control so3_controller_; + HGDO disturbance_observer_; + Mavros_Interface mavros_interface_; + + std::ofstream logger; + std::string logger_file_name; + + void initLogRecorder(); + + void recordLog(Eigen::Vector3d &cur_v, Eigen::Vector3d &cur_a, Eigen::Vector3d &des_a, Eigen::Vector3d &dis_a, double cur_yaw, double des_yaw); + + Eigen::Vector3d publishHoverSO3Command(Eigen::Vector3d des_pos_, Eigen::Vector3d des_vel_, Eigen::Vector3d des_acc_, double des_yaw_, double des_yaw_dot_); + + void get_Q_from_ACC(const Eigen::Vector3d &ref_acc, double ref_yaw, Eigen::Quaterniond &quat_des, Eigen::Vector3d &force_des); + + void pub_SO3_command(Eigen::Vector3d ref_acc, double ref_yaw, double cur_yaw); + + void limite_acc(Eigen::Vector3d &acc); + + void network_cmd_callback(const quadrotor_msgs::PositionCommand::ConstPtr &cmd); + + void odom_callback(const nav_msgs::Odometry::ConstPtr &odom); + + void imu_callback(const sensor_msgs::Imu &imu); + + void timerCallback(const ros::TimerEvent&); + + // mavros interface + bool takeoff_land_srv_handle(quadrotor_msgs::SetTakeoffLand::Request &req, + quadrotor_msgs::SetTakeoffLand::Response &res){ + std::thread t(&NetworkControl::takeoff_land_thread, this, std::ref(req)); + t.detach(); + res.res = true; + return true; + } + + bool arm_disarm_vehicle(bool arm); + + void takeoff_land_thread(quadrotor_msgs::SetTakeoffLand::Request &req); + + void simulateTakeoff() { + ros::ServiceClient client = nh_.serviceClient("takeoff_land"); + quadrotor_msgs::SetTakeoffLand srv; + srv.request.takeoff = true; + srv.request.takeoff_altitude = 2.0; + + if (client.call(srv)) { + ROS_INFO("Takeoff called successfully"); + } else { + ROS_ERROR("Failed to call takeoff service"); + } + } +}; + +#endif \ No newline at end of file diff --git a/Controller/src/so3_control/include/so3_control/SO3Control.h b/Controller/src/so3_control/include/so3_control/SO3Control.h new file mode 100755 index 0000000..afc2d95 --- /dev/null +++ b/Controller/src/so3_control/include/so3_control/SO3Control.h @@ -0,0 +1,42 @@ +#ifndef __SO3_CONTROL_H__ +#define __SO3_CONTROL_H__ + +#include + +class SO3Control +{ +public: + SO3Control(); + + void setMass(const double mass); + void setGravity(const double g); + void setPosition(const Eigen::Vector3d& position); + void setVelocity(const Eigen::Vector3d& velocity); + void setAcc(const Eigen::Vector3d& acc); + + void calculateControl(const Eigen::Vector3d& des_pos, + const Eigen::Vector3d& des_vel, + const Eigen::Vector3d& des_acc, const double des_yaw, + const double des_yaw_dot, const Eigen::Vector3d& kx, + const Eigen::Vector3d& kv); + + const Eigen::Vector3d& getComputedForce(void); + const Eigen::Quaterniond& getComputedOrientation(void); + + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +private: + // Inputs for the controller + double mass_; + double g_; + Eigen::Vector3d pos_; + Eigen::Vector3d vel_; + Eigen::Vector3d acc_; + + // Outputs of the controller + Eigen::Vector3d force_; + Eigen::Quaterniond orientation_; +}; + +#endif diff --git a/Controller/src/so3_control/include/so3_control/mavros_interface.h b/Controller/src/so3_control/include/so3_control/mavros_interface.h new file mode 100644 index 0000000..5f7c7a1 --- /dev/null +++ b/Controller/src/so3_control/include/so3_control/mavros_interface.h @@ -0,0 +1,194 @@ +#ifndef MAVROS_INTERFACE_H_ +#define MAVROS_INTERFACE_H_ + +#include "ros/ros.h" +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include + +class Mavros_Interface +{ +public: + Mavros_Interface() : _nh("~cmd") + { + _state.reset(); + std::string base_name = "/mavros"; + // char id_str[10]; + // sprintf(id_str, "%d", id); + // base_name += id_str; + + std::string att_target_pub_name; + att_target_pub_name = base_name + "/setpoint_raw/attitude"; + att_target_pub = _nh.advertise(att_target_pub_name.c_str(), 10); + + std::string state_sub_name; + state_sub_name = base_name + "/state"; + state_sub = _nh.subscribe(state_sub_name.c_str(), 10, &Mavros_Interface::state_cb, this); + + std::string set_mode_s_name; + set_mode_s_name = base_name + "/set_mode"; + set_mode_client = _nh.serviceClient(set_mode_s_name.c_str()); + + std::string arm_disarm_s_name; + arm_disarm_s_name = base_name + "/cmd/arming"; + arm_disarm_client = _nh.serviceClient(arm_disarm_s_name.c_str()); + } + + ~Mavros_Interface() {} + + typedef struct mavros_state_t + { + ros::Time header; + bool has_armed; + bool offboard_enabled; + void reset() + { + has_armed = false; + offboard_enabled = false; + } + mavros_state_t() + { + reset(); + } + }; + + void state_cb(const mavros_msgs::State &state_data) + { + mavros_msgs::State temp_data = state_data; + _state.header = state_data.header.stamp; + _state.has_armed = state_data.armed; + if (state_data.mode == "OFFBOARD") + { + _state.offboard_enabled = true; + } + else + { + _state.offboard_enabled = false; + } + } + + void get_status(bool &arm_state, bool &offboard_enabled) + { + arm_state = _state.has_armed; + offboard_enabled = _state.offboard_enabled; + } + + bool set_arm_and_offboard() + { + ros::Rate _ofb_check_rate(1); + int try_arm_ofb_times = 0; + while (!_state.offboard_enabled || !_state.has_armed) + { + if (_state.offboard_enabled) + { + ros::Rate _arm_check_rate(1); + while (!_state.has_armed) + { + mavros_msgs::CommandBool arm_srv; + arm_srv.request.value = true; + if (arm_disarm_client.call(arm_srv)) + { + ROS_INFO("vehicle ARMED"); + } + try_arm_ofb_times = try_arm_ofb_times + 1; + if (try_arm_ofb_times >= 3) + { + ROS_ERROR("try 3 times, cannot armed uav, give up!"); + return false; + } + _arm_check_rate.sleep(); + } + } + else + { + ROS_INFO("not in OFFBOARD mode"); + mavros_msgs::SetMode set_mode_srv; + set_mode_srv.request.base_mode = 0; + set_mode_srv.request.custom_mode = "OFFBOARD"; + if (!set_mode_client.call(set_mode_srv)) + { + return false; + } + ROS_INFO("switch to OFFBOARD mode"); + _ofb_check_rate.sleep(); + } + } + return true; + } + + /* void set_arm(const ros::TimerEvent& event) { + if(_state.offboard_enabled) { + mavros_msgs::CommandBool arm_srv; + arm_srv.request.value = true; + if (arm_disarm_client.call(arm_srv)) { + ROS_INFO("vehicle ARMED"); + } + } else { + ROS_INFO("not in OFFBOARD mode"); + } + } */ + + bool set_disarm() + { + ros::Rate _arm_check_rate(1); + while (_state.has_armed) + { + mavros_msgs::CommandBool arm_srv; + arm_srv.request.value = false; + if (!arm_disarm_client.call(arm_srv)) + { + return false; + } + ROS_INFO("vehicle DISARMED"); + _arm_check_rate.sleep(); + } + return true; + } + + void pub_att_thrust_cmd(const Eigen::Quaterniond &q_d, const double &thrust_d) + { + /* + 目前mavros用的是北东地的坐标系，为了和pid通用所以没有改mavros而是在这里改为北东地 + */ + mavros_msgs::AttitudeTarget at_cmd; + at_cmd.header.stamp = ros::Time::now(); + at_cmd.type_mask = at_cmd.IGNORE_ROLL_RATE | at_cmd.IGNORE_PITCH_RATE | at_cmd.IGNORE_YAW_RATE; + at_cmd.thrust = (float)thrust_d; + at_cmd.orientation.w = q_d.w(); + at_cmd.orientation.x = q_d.x(); + at_cmd.orientation.y = -q_d.y(); + at_cmd.orientation.z = -q_d.z(); + att_target_pub.publish(at_cmd); + } + + // for simulation + void set_arm_and_offboard_manually() + { + _state.has_armed = true; + _state.offboard_enabled = true; + } + + void set_disarm_manually() + { + _state.has_armed = false; + } + +private: + ros::NodeHandle _nh; + ros::Publisher att_target_pub; + ros::Subscriber state_sub; + ros::ServiceClient set_mode_client; + ros::ServiceClient arm_disarm_client; + mavros_state_t _state; +}; + +#endif diff --git a/Controller/src/so3_control/launch/controller_network.launch b/Controller/src/so3_control/launch/controller_network.launch new file mode 100644 index 0000000..3d329a9 --- /dev/null +++ b/Controller/src/so3_control/launch/controller_network.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Controller/src/so3_control/logger/log_plot.py b/Controller/src/so3_control/logger/log_plot.py new file mode 100755 index 0000000..7bb7641 --- /dev/null +++ b/Controller/src/so3_control/logger/log_plot.py @@ -0,0 +1,28 @@ +import sys +import numpy as np +import matplotlib.pyplot as plt + +if __name__ == '__main__': + file_path = sys.argv[1] + temp = np.loadtxt(file_path, dtype=str, delimiter=",") + print('load file:', file_path) + label = temp[0, :].astype(str) + data = temp[1:, :].astype(np.float64) + timestamp = (data[:, 0] - data[0, 0]) + print('data length:', len(data)) + # print(timestamp) + while 1: + for i in range(len(label)): + if i != 0: + print('[', i, ']: ', label[i]) + print('plot the curve') + print('example: 1 2 3') + wtp = input('want to plot(\'q\' to quit):') + if wtp == 'q': + break + wtp = [int(n) for n in wtp.split()] + for i in range(len(wtp)): + plt.plot(timestamp, data[:, wtp[i]], linewidth=2.5, linestyle='-', marker='.', label=label[wtp[i]]) + plt.xlabel('t') + plt.legend() + plt.show() diff --git a/Controller/src/so3_control/mainpage.dox b/Controller/src/so3_control/mainpage.dox new file mode 100755 index 0000000..101a5b1 --- /dev/null +++ b/Controller/src/so3_control/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b so3_control + + + +--> + + +*/ diff --git a/Controller/src/so3_control/nodelet_plugin.xml b/Controller/src/so3_control/nodelet_plugin.xml new file mode 100755 index 0000000..af407f6 --- /dev/null +++ b/Controller/src/so3_control/nodelet_plugin.xml @@ -0,0 +1,7 @@ + + + + so3_control + + + diff --git a/Controller/src/so3_control/package.xml b/Controller/src/so3_control/package.xml new file mode 100755 index 0000000..c9273a4 --- /dev/null +++ b/Controller/src/so3_control/package.xml @@ -0,0 +1,35 @@ + + 0.0.0 + so3_control + + + so3_control + + + Kartik Mohta + BSD + http://ros.org/wiki/so3_control + + + catkin + + roscpp + nav_msgs + quadrotor_msgs + tf + nodelet + cmake_utils + + roscpp + nav_msgs + quadrotor_msgs + tf + nodelet + cmake_utils + + + + + + + diff --git a/Controller/src/so3_control/src/NetworkControl.cpp b/Controller/src/so3_control/src/NetworkControl.cpp new file mode 100644 index 0000000..e847725 --- /dev/null +++ b/Controller/src/so3_control/src/NetworkControl.cpp @@ -0,0 +1,437 @@ +#include "so3_control/NetworkControl.h" + +void NetworkControl::initLogRecorder() +{ + // Use file count as name to avoid date confusion + std::cout << "logger_file_name: " << logger_file_name << std::endl; + int max_number = -1; + boost::filesystem::path dir(logger_file_name); + if (boost::filesystem::exists(dir) && boost::filesystem::is_directory(dir)) { + std::regex filename_pattern(R"(^(\d+)_.*$)"); // 匹配以数字开头，并以"_"分隔的文件名 + for (const auto& entry : boost::filesystem::directory_iterator(dir)) { + if (boost::filesystem::is_regular_file(entry)) { + std::string filename = entry.path().filename().string(); + std::smatch match; + if (std::regex_match(filename, match, filename_pattern)) { + int number = std::stoi(match[1]); // 提取第一个"_"前的数字 + max_number = std::max(max_number, number); + } + } + } + } else { + std::cerr << "Error: invalid logger path" << std::endl; + } + std::string fileCountStr = std::to_string(max_number + 1); + std::string temp_file_name = logger_file_name + fileCountStr + "_Net_logger_"; + time_t timep; + timep = time(0); + char tmp[64]; + strftime(tmp, sizeof(tmp), "%Y_%m_%d_%H_%M_%S", localtime(&timep)); + temp_file_name += tmp; + temp_file_name += ".csv"; + if (logger.is_open()) + { + logger.close(); + } + logger.open(temp_file_name.c_str(), std::ios::out); + std::cout << "logger: " << temp_file_name << std::endl; + if (!logger.is_open()) + { + std::cout << "cannot open the logger." << std::endl; + } + else + { + logger << "timestamp" << ','; + logger << "cur_px" << ','; + logger << "cur_py" << ','; + logger << "cur_pz" << ','; + logger << "cur_vx" << ','; + logger << "cur_vy" << ','; + logger << "cur_vz" << ','; + logger << "cur_ax" << ','; + logger << "cur_ay" << ','; + logger << "cur_az" << ','; + logger << "des_px" << ','; + logger << "des_py" << ','; + logger << "des_pz" << ','; + logger << "des_vx" << ','; + logger << "des_vy" << ','; + logger << "des_vz" << ','; + logger << "des_ax" << ','; + logger << "des_ay" << ','; + logger << "des_az" << ','; + logger << "dis_ax" << ','; + logger << "dis_ay" << ','; + logger << "dis_az" << ','; + logger << "px4_ax" << ','; + logger << "px4_ay" << ','; + logger << "px4_az" << ','; + logger << "thrust" << ','; + logger << "cur_yaw" << ','; + logger << "des_yaw" << std::endl; + } +} + +void NetworkControl::recordLog(Eigen::Vector3d &cur_v, Eigen::Vector3d &cur_a, Eigen::Vector3d &des_a, Eigen::Vector3d &dis_a, double cur_yaw, double des_yaw) +{ + if (logger.is_open()) + { + logger << ros::Time::now().toNSec() << ','; + logger << cur_pos_(0) << ','; + logger << cur_pos_(1) << ','; + logger << cur_pos_(2) << ','; + logger << cur_v(0) << ','; + logger << cur_v(1) << ','; + logger << cur_v(2) << ','; + logger << cur_a(0) << ','; + logger << cur_a(1) << ','; + logger << cur_a(2) << ','; + logger << des_pos_(0) << ','; + logger << des_pos_(1) << ','; + logger << des_pos_(2) << ','; + logger << des_vel_(0) << ','; + logger << des_vel_(1) << ','; + logger << des_vel_(2) << ','; + logger << des_a(0) << ','; + logger << des_a(1) << ','; + logger << des_a(2) << ','; + logger << dis_a(0) << ','; + logger << dis_a(1) << ','; + logger << dis_a(2) << ','; + logger << des_a(0) - dis_a(0) << ','; + logger << des_a(1) - dis_a(1) << ','; + logger << des_a(2) - dis_a(2) << ','; + logger << last_thrust_ << ','; + logger << cur_yaw << ','; + logger << des_yaw << std::endl; + } +} + +Eigen::Vector3d NetworkControl::publishHoverSO3Command(Eigen::Vector3d des_pos, Eigen::Vector3d des_vel, + Eigen::Vector3d des_acc, double des_yaw, double des_yaw_dot) +{ + Eigen::Vector3d kx(kx_xy, kx_xy, kx_z); + Eigen::Vector3d kv(kv_xy, kv_xy, kv_z); + so3_controller_.calculateControl(des_pos, des_vel, des_acc, des_yaw, des_yaw_dot, kx, kv); + + Eigen::Vector3d force = so3_controller_.getComputedForce(); + Eigen::Quaterniond orientation = so3_controller_.getComputedOrientation(); + + quadrotor_msgs::SO3Command::Ptr so3_command(new quadrotor_msgs::SO3Command); //! @note memory leak? + so3_command->header.stamp = ros::Time::now(); + so3_command->force.x = force(0); + so3_command->force.y = force(1); + so3_command->force.z = force(2); + so3_command->orientation.x = orientation.x(); + so3_command->orientation.y = orientation.y(); + so3_command->orientation.z = orientation.z(); + so3_command->orientation.w = orientation.w(); + so3_command->kR[0] = 1.5; + so3_command->kR[1] = 1.5; + so3_command->kR[2] = 1.0; + so3_command->kOm[0] = 0.13; + so3_command->kOm[1] = 0.13; + so3_command->kOm[2] = 0.1; + so3_command->aux.current_yaw = cur_yaw_; + so3_command->aux.enable_motors = true; + so3_command_pub_.publish(so3_command); + + double thrust_norm = force.norm() / (mass_ * ONE_G) * hover_thrust_; + mavros_interface_.pub_att_thrust_cmd(orientation, thrust_norm); + last_thrust_ = thrust_norm; + + double thrust = force.norm() / mass_; + Eigen::Matrix3d Cbn; + get_dcm_from_q(Cbn, orientation); + Eigen::Vector3d att_acc = Eigen::Vector3d(0, 0, thrust); + att_acc = Cbn * att_acc; + att_acc(2) -= ONE_G; + // std::cout<<"att_acc"< 1e-6) + b3c.noalias() = force_.normalized(); + else + b3c.noalias() = Eigen::Vector3d(0, 0, 1); + + b2c.noalias() = b3c.cross(b1d).normalized(); + b1c.noalias() = b2c.cross(b3c).normalized(); + + Eigen::Matrix3d R; + R << b1c, b2c, b3c; + + quat_des = Eigen::Quaterniond(R); + force_des = force_; + +} + +// 世界系的期望加速度：ref_acc（加上g）、期望yaw：ref_yaw +void NetworkControl::pub_SO3_command(Eigen::Vector3d ref_acc, double ref_yaw, double cur_yaw) +{ + Eigen::Vector3d force; + Eigen::Quaterniond quat_des; + get_Q_from_ACC(ref_acc, ref_yaw, quat_des, force); + quadrotor_msgs::SO3Command::Ptr so3_command(new quadrotor_msgs::SO3Command); + so3_command->header.stamp = ros::Time::now(); + so3_command->force.x = force(0); + so3_command->force.y = force(1); + so3_command->force.z = force(2); + so3_command->orientation.x = quat_des.x(); + so3_command->orientation.y = quat_des.y(); + so3_command->orientation.z = quat_des.z(); + so3_command->orientation.w = quat_des.w(); + so3_command->kR[0] = 1.5; + so3_command->kR[1] = 1.5; + so3_command->kR[2] = 1.0; + so3_command->kOm[0] = 0.13; + so3_command->kOm[1] = 0.13; + so3_command->kOm[2] = 0.1; + so3_command->aux.current_yaw = cur_yaw; + so3_command->aux.enable_motors = true; + so3_command_pub_.publish(so3_command); + + double thrust_norm = force.norm() / (mass_ * ONE_G) * hover_thrust_; + mavros_interface_.pub_att_thrust_cmd(quat_des, thrust_norm); + last_thrust_ = thrust_norm; +} + +void NetworkControl::limite_acc(Eigen::Vector3d &acc){ + return; // limited if needed + acc[0] = std::max(-8.0, std::min(acc[0], 8.0)); + acc[1] = std::max(-8.0, std::min(acc[1], 8.0)); + acc[2] = std::max(-4.0, std::min(acc[2], 4.0)); +} + +void NetworkControl::network_cmd_callback(const quadrotor_msgs::PositionCommand::ConstPtr &cmd) +{ + if (!ctrl_valid_) + return; + + bool arm_state = false; + bool ofb_enable = false; + mavros_interface_.get_status(arm_state, ofb_enable); + if (!arm_state || !ofb_enable) + return; + + position_cmd_init_ = true; + + Eigen::Vector3d des_acc = Eigen::Vector3d(cmd->acceleration.x, cmd->acceleration.y, cmd->acceleration.z); + limite_acc(des_acc); + + double des_yaw = cmd->yaw; + + disturbance_observer_.HGDO_ext_force_ob(last_des_acc_, cur_vel_, dis_acc_); + // ROS_INFO_THROTTLE(0.5, "dis_acc: %.3f, %.3f, %.3f", dis_acc_.x(), dis_acc_.y(), dis_acc_.z()); + // std::cout << "dis_acc: " << dis_acc_.transpose() << std::endl; + + Eigen::Vector3d att_acc; + if (cmd->trajectory_flag == quadrotor_msgs::PositionCommand::TRAJECTORY_STATUS_READY) + { + if (use_disturbance_observer_) + att_acc = des_acc - dis_acc_; + else + att_acc = des_acc; + pub_SO3_command(att_acc, des_yaw, cur_yaw_); + // std::cout<<"acc: "<position.x, cmd->position.y, cmd->position.z); + Eigen::Vector3d des_vel = Eigen::Vector3d(cmd->velocity.x, cmd->velocity.y, cmd->velocity.z); + double des_yaw = cmd->yaw; + double des_yaw_dot = cmd->yaw_dot; + att_acc = publishHoverSO3Command(des_pos, des_vel, des_acc, des_yaw, des_yaw_dot); + if (record_log_) + recordLog(cur_vel_, cur_acc_, att_acc, dis_acc_, cur_yaw_, des_yaw); + } + + last_des_acc_ = att_acc; +} + +void NetworkControl::odom_callback(const nav_msgs::Odometry::ConstPtr &odom) +{ + cur_yaw_ = tf::getYaw(odom->pose.pose.orientation); + cur_vel_ = Eigen::Vector3d(odom->twist.twist.linear.x, odom->twist.twist.linear.y, odom->twist.twist.linear.z); + + cur_pos_ = Eigen::Vector3d(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z); + cur_att_.w() = odom->pose.pose.orientation.w; + cur_att_.x() = odom->pose.pose.orientation.x; + cur_att_.y() = odom->pose.pose.orientation.y; + cur_att_.z() = odom->pose.pose.orientation.z; + + // if(!is_simulation_) + // cur_acc_ = Eigen::Vector3d(odom->twist.twist.angular.x, odom->twist.twist.angular.y, odom->twist.twist.angular.z); + + so3_controller_.setPosition(cur_pos_); + so3_controller_.setVelocity(cur_vel_); + if (!state_init_) + ROS_INFO("Odom Recived! Ready to TakeOff..."); + state_init_ = true; +} + +void NetworkControl::imu_callback(const sensor_msgs::Imu &imu) +{ + Eigen::Vector3d acc(imu.linear_acceleration.x, + imu.linear_acceleration.y, + imu.linear_acceleration.z); + Eigen::Vector3d acc_world = cur_att_ * acc; + acc_world(2) -= 9.8; + cur_acc_ = acc_world; + // so3_controller_.setAcc(acc_world); +} + +void NetworkControl::timerCallback(const ros::TimerEvent &) +{ + if (!state_init_ || !ref_valid_) + return; + if (position_cmd_init_ && ctrl_valid_) + return; + + mutex_.lock(); + Eigen::Vector3d des_pos_temp = des_pos_; + mutex_.unlock(); + + Eigen::Vector3d att_acc = publishHoverSO3Command(des_pos_temp, des_vel_, des_acc_, des_yaw_, des_yaw_dot_); + + if (takeoff_cmd_init_) + { + disturbance_observer_.HGDO_ext_force_ob(last_des_acc_, cur_vel_, dis_acc_); + // ROS_INFO_THROTTLE(1.0, " dis_acc: (%f, %f, %f)", dis_acc_.x(), dis_acc_.y(), dis_acc_.z()); + } + + last_des_acc_ = att_acc; + if (record_log_) + recordLog(cur_vel_, cur_acc_, att_acc, dis_acc_, cur_yaw_, des_yaw_); + takeoff_cmd_init_ = true; +} + +void NetworkControl::takeoff_land_thread(quadrotor_msgs::SetTakeoffLand::Request &req) +{ + mutex_.lock(); + float takeoff_altitude = req.takeoff_altitude; + des_pos_ = cur_pos_; + des_pos_(2) -= 0.2; + des_yaw_ = cur_yaw_; + mutex_.unlock(); + ref_valid_ = true; + + if (req.takeoff) + { + std::cout << "takeoff process start" << std::endl; + if (!arm_disarm_vehicle(true)) + { + std::cout << "Service failed because cannot Arm!" << std::endl; + return; + } + sleep(1); + + double takeoff_vel = 0.8; + double takeoff_ddz = takeoff_vel * control_dt_; + ros::Rate takeoff_loop(1 / control_dt_); + std::cout << "takeoff altitude: " << takeoff_altitude << " m" << std::endl; + std::cout << "takeoff velocity: " << takeoff_vel << " m/s" << std::endl; + ros::Time start_takeoff_task_time = ros::Time::now(); + while (ros::ok() && ros::Time::now() - start_takeoff_task_time < ros::Duration(8.0)) + { + mutex_.lock(); + des_pos_(2) += takeoff_ddz; + mutex_.unlock(); + + if (des_pos_(2) > takeoff_altitude) + { + ROS_INFO("TakeOff Done! Ready to Flight..."); + ctrl_valid_ = true; + break; + } + takeoff_loop.sleep(); + } + } + else + { + ctrl_valid_ = false; + double land_vel = -0.4; + double land_ddz = land_vel * control_dt_; + ros::Rate land_loop(1 / control_dt_); + ros::Time start_land_task_time = ros::Time::now(); + while (ros::ok() && ros::Time::now() - start_land_task_time < ros::Duration(8.0)) + { + mutex_.lock(); + des_pos_(2) += land_ddz; + mutex_.unlock(); + + if (fabs(cur_pos_(2)) < 0.1f && fabs(cur_vel_(2)) < 1.0f) + { + ROS_INFO("detect land: disarm"); + arm_disarm_vehicle(false); + break; + } + land_loop.sleep(); + } + } + ROS_INFO("take off thread out"); + return; +} + +bool NetworkControl::arm_disarm_vehicle(bool arm) +{ + if (arm) + { + if (!state_init_){ + ROS_WARN("State timeout, will not arm!"); + return false; + } + + ROS_INFO("UAV will be armed!"); + if (is_simulation_) + mavros_interface_.set_arm_and_offboard_manually(); + else if (mavros_interface_.set_arm_and_offboard()) + ROS_INFO("Arm done!"); + else{ + ROS_ERROR("Arm failure!"); + return false; + } + if (record_log_) + initLogRecorder(); + } + else + { + ROS_INFO("UAV will be disarmed!"); + if (is_simulation_) + mavros_interface_.set_disarm_manually(); + else if (mavros_interface_.set_disarm()) + ROS_INFO("Disarm done!"); + else { + ROS_ERROR("Disarm failure!"); + return false; + } + if (record_log_) + logger.close(); + } + return true; +} \ No newline at end of file diff --git a/Controller/src/so3_control/src/SO3Control.cpp b/Controller/src/so3_control/src/SO3Control.cpp new file mode 100755 index 0000000..f634c50 --- /dev/null +++ b/Controller/src/so3_control/src/SO3Control.cpp @@ -0,0 +1,124 @@ +#include +#include + +#include + +SO3Control::SO3Control() + : mass_(0.5) + , g_(9.81) +{ + acc_.setZero(); +} + +void +SO3Control::setMass(const double mass) +{ + mass_ = mass; +} + +void +SO3Control::setGravity(const double g) +{ + g_ = g; +} + +void +SO3Control::setPosition(const Eigen::Vector3d& position) +{ + pos_ = position; +} + +void +SO3Control::setVelocity(const Eigen::Vector3d& velocity) +{ + vel_ = velocity; +} + +void +SO3Control::calculateControl(const Eigen::Vector3d& des_pos, + const Eigen::Vector3d& des_vel, + const Eigen::Vector3d& des_acc, + const double des_yaw, const double des_yaw_dot, + const Eigen::Vector3d& kx, + const Eigen::Vector3d& kv) +{ + // ROS_INFO("Error %lf %lf %lf", (des_pos - pos_).norm(), + // (des_vel - vel_).norm(), (des_acc - acc_).norm()); + + bool flag_use_pos = !(std::isnan(des_pos(0)) || std::isnan(des_pos(1)) || std::isnan(des_pos(2))); + bool flag_use_vel = !(std::isnan(des_vel(0)) || std::isnan(des_vel(1)) || std::isnan(des_vel(2))); + bool flag_use_acc = !(std::isnan(des_acc(0)) || std::isnan(des_acc(1)) || std::isnan(des_acc(2))); + + Eigen::Vector3d totalError(Eigen::Vector3d::Zero()); + if ( flag_use_pos ) totalError.noalias() += des_pos - pos_; + if ( flag_use_vel ) totalError.noalias() += des_vel - vel_; + if ( flag_use_acc ) totalError.noalias() += des_acc - acc_; + + Eigen::Vector3d ka(fabs(totalError[0]) > 3 ? 0 : (fabs(totalError[0]) * 0.0), + fabs(totalError[1]) > 3 ? 0 : (fabs(totalError[1]) * 0.0), + fabs(totalError[2]) > 3 ? 0 : (fabs(totalError[2]) * 0.0)); + + // std::cout << des_pos.transpose() << std::endl; + // std::cout << des_vel.transpose() << std::endl; + // std::cout << des_acc.transpose() << std::endl; + // std::cout << des_yaw << std::endl; + // std::cout << pos_.transpose() << std::endl; + // std::cout << vel_.transpose() << std::endl; + // std::cout << acc_.transpose() << std::endl; + + + force_ = mass_ * g_ * Eigen::Vector3d(0, 0, 1); + if ( flag_use_pos ) force_.noalias() += kx.asDiagonal() * (des_pos - pos_); + if ( flag_use_vel ) force_.noalias() += kv.asDiagonal() * (des_vel - vel_); + if ( flag_use_acc ) force_.noalias() += mass_ * ka.asDiagonal() * (des_acc - acc_) + mass_ * (des_acc); + + // Limit control angle to 45 degree + double theta = M_PI / 4; + double c = cos(theta); + Eigen::Vector3d f; + f.noalias() = force_ - mass_ * g_ * Eigen::Vector3d(0, 0, 1); + if (Eigen::Vector3d(0, 0, 1).dot(force_ / force_.norm()) < c) + { + double nf = f.norm(); + double A = c * c * nf * nf - f(2) * f(2); + double B = 2 * (c * c - 1) * f(2) * mass_ * g_; + double C = (c * c - 1) * mass_ * mass_ * g_ * g_; + double s = (-B + sqrt(B * B - 4 * A * C)) / (2 * A); + force_.noalias() = s * f + mass_ * g_ * Eigen::Vector3d(0, 0, 1); + } + // Limit control angle to 45 degree + + Eigen::Vector3d b1c, b2c, b3c; + Eigen::Vector3d b1d(cos(des_yaw), sin(des_yaw), 0); + + if (force_.norm() > 1e-6) + b3c.noalias() = force_.normalized(); + else + b3c.noalias() = Eigen::Vector3d(0, 0, 1); + + b2c.noalias() = b3c.cross(b1d).normalized(); + b1c.noalias() = b2c.cross(b3c).normalized(); + + Eigen::Matrix3d R; + R << b1c, b2c, b3c; + + orientation_ = Eigen::Quaterniond(R); +} + +const Eigen::Vector3d& +SO3Control::getComputedForce(void) +{ + return force_; +} + +const Eigen::Quaterniond& +SO3Control::getComputedOrientation(void) +{ + return orientation_; +} + +void +SO3Control::setAcc(const Eigen::Vector3d& acc) +{ + acc_ = acc; +} diff --git a/Controller/src/so3_control/src/control_example.cpp b/Controller/src/so3_control/src/control_example.cpp new file mode 100644 index 0000000..4b89399 --- /dev/null +++ b/Controller/src/so3_control/src/control_example.cpp @@ -0,0 +1,78 @@ +#include +#include +#include + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "quad_sim_example"); + ros::NodeHandle nh("~"); + + ros::Publisher cmd_pub = nh.advertise("/position_cmd", 10); + + ros::Duration(2.0).sleep(); + + while (ros::ok()) + { + + /*** example 1: position control ***/ + std::cout << "\033[42m" + << "Position Control to (2,0,1) meters" + << "\033[0m" << std::endl; + for (int i = 0; i < 500; i++) + { + quadrotor_msgs::PositionCommand cmd; + cmd.position.x = 2.0; + cmd.position.y = 0.0; + cmd.position.z = 1.0; + cmd_pub.publish(cmd); + + ros::Duration(0.01).sleep(); + ros::spinOnce(); + } + + /*** example 2: velocity control ***/ + std::cout << "\033[42m" + << "Velocity Control to (-1,0,0) meters/second" + << "\033[0m" << std::endl; + for (int i = 0; i < 500; i++) + { + quadrotor_msgs::PositionCommand cmd; + cmd.position.x = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan + cmd.position.y = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan + cmd.position.z = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan + cmd.velocity.x = -1.0; + cmd.velocity.y = 0.0; + cmd.velocity.z = 0.0; + cmd_pub.publish(cmd); + + ros::Duration(0.01).sleep(); + ros::spinOnce(); + } + + /*** example 3: accelleration control ***/ + std::cout << "\033[42m" + << "Accelleration Control to (1,0,0) meters/second^2" + << "\033[0m" << std::endl; + for (int i = 0; i < 500; i++) + { + quadrotor_msgs::PositionCommand cmd; + cmd.position.x = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan + cmd.position.y = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan + cmd.position.z = std::numeric_limits::quiet_NaN(); // lower-order commands must be disabled by nan + cmd.velocity.x = std::numeric_limits::quiet_NaN(); + cmd.velocity.y = std::numeric_limits::quiet_NaN(); + cmd.velocity.z = std::numeric_limits::quiet_NaN(); + cmd.acceleration.x = 1.0; + cmd.acceleration.y = 0.0; + cmd.acceleration.z = 0.0; + cmd_pub.publish(cmd); + + ros::Duration(0.01).sleep(); + ros::spinOnce(); + } + + } + + return 0; +} diff --git a/Controller/src/so3_control/src/network_control_node.cpp b/Controller/src/so3_control/src/network_control_node.cpp new file mode 100644 index 0000000..feac9e2 --- /dev/null +++ b/Controller/src/so3_control/src/network_control_node.cpp @@ -0,0 +1,11 @@ +#include "so3_control/NetworkControl.h" +#include "ros/ros.h" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "network_ctrl_node"); + ros::NodeHandle node("~"); + NetworkControl controller(node); + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/Controller/src/so3_control/src/so3_control_nodelet.cpp b/Controller/src/so3_control/src/so3_control_nodelet.cpp new file mode 100755 index 0000000..4d0f94a --- /dev/null +++ b/Controller/src/so3_control/src/so3_control_nodelet.cpp @@ -0,0 +1,350 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class SO3ControlNodelet : public nodelet::Nodelet +{ +public: + SO3ControlNodelet() + : position_cmd_updated_(false) + , position_cmd_init_(false) + , des_yaw_(0) + , des_yaw_dot_(0) + , current_yaw_(0) + , enable_motors_(true) + , // FIXME + use_external_yaw_(false) + { + } + + void onInit(void); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +private: + void publishSO3Command(void); + void position_cmd_callback( + const quadrotor_msgs::PositionCommand::ConstPtr& cmd); + void odom_callback(const nav_msgs::Odometry::ConstPtr& odom); + void enable_motors_callback(const std_msgs::Bool::ConstPtr& msg); + void corrections_callback(const quadrotor_msgs::Corrections::ConstPtr& msg); + void imu_callback(const sensor_msgs::Imu& imu); + + void initLogRecorder(); + void recordLog(); + + SO3Control controller_; + ros::Publisher so3_command_pub_; + ros::Subscriber odom_sub_; + ros::Subscriber position_cmd_sub_; + ros::Subscriber enable_motors_sub_; + ros::Subscriber corrections_sub_; + ros::Subscriber imu_sub_; + + bool position_cmd_updated_, position_cmd_init_; + std::string frame_id_; + + bool record_log_{false}; + bool cur_acc_init_{false}, cur_odom_init_{false}; + Eigen::Vector3d des_pos_, des_vel_, des_acc_, kx_, kv_; + Eigen::Vector3d cur_pos_, cur_vel_, cur_acc_; + double des_yaw_, des_yaw_dot_; + double current_yaw_; + bool enable_motors_; + bool use_external_yaw_; + double kR_[3], kOm_[3], corrections_[3]; + double init_x_, init_y_, init_z_; + + std::ofstream logger; + std::string logger_file_name; +}; + +void +SO3ControlNodelet::publishSO3Command(void) +{ + controller_.calculateControl(des_pos_, des_vel_, des_acc_, des_yaw_, + des_yaw_dot_, kx_, kv_); + + const Eigen::Vector3d& force = controller_.getComputedForce(); + const Eigen::Quaterniond& orientation = controller_.getComputedOrientation(); + + quadrotor_msgs::SO3Command::Ptr so3_command( + new quadrotor_msgs::SO3Command); //! @note memory leak? + so3_command->header.stamp = ros::Time::now(); + so3_command->header.frame_id = frame_id_; + so3_command->force.x = force(0); + so3_command->force.y = force(1); + so3_command->force.z = force(2); + so3_command->orientation.x = orientation.x(); + so3_command->orientation.y = orientation.y(); + so3_command->orientation.z = orientation.z(); + so3_command->orientation.w = orientation.w(); + for (int i = 0; i < 3; i++) + { + so3_command->kR[i] = kR_[i]; + so3_command->kOm[i] = kOm_[i]; + } + so3_command->aux.current_yaw = current_yaw_; + so3_command->aux.kf_correction = corrections_[0]; + so3_command->aux.angle_corrections[0] = corrections_[1]; + so3_command->aux.angle_corrections[1] = corrections_[2]; + so3_command->aux.enable_motors = enable_motors_; + so3_command->aux.use_external_yaw = use_external_yaw_; + so3_command_pub_.publish(so3_command); +} + +void +SO3ControlNodelet::position_cmd_callback( + const quadrotor_msgs::PositionCommand::ConstPtr& cmd) +{ + des_pos_ = Eigen::Vector3d(cmd->position.x, cmd->position.y, cmd->position.z); + des_vel_ = Eigen::Vector3d(cmd->velocity.x, cmd->velocity.y, cmd->velocity.z); + des_acc_ = Eigen::Vector3d(cmd->acceleration.x, cmd->acceleration.y, + cmd->acceleration.z); + + if ( cmd->kx[0] > 1e-5 || cmd->kx[1] > 1e-5 || cmd->kx[2] > 1e-5 ) + { + kx_ = Eigen::Vector3d(cmd->kx[0], cmd->kx[1], cmd->kx[2]); + } + if ( cmd->kv[0] > 1e-5 || cmd->kv[1] > 1e-5 || cmd->kv[2] > 1e-5 ) + { + kv_ = Eigen::Vector3d(cmd->kv[0], cmd->kv[1], cmd->kv[2]); + } + + des_yaw_ = cmd->yaw; + des_yaw_dot_ = cmd->yaw_dot; + position_cmd_updated_ = true; + position_cmd_init_ = true; + + publishSO3Command(); + + if (record_log_ && cur_acc_init_ && cur_odom_init_) + { + recordLog(); + } + +} + +void +SO3ControlNodelet::odom_callback(const nav_msgs::Odometry::ConstPtr& odom) +{ + const Eigen::Vector3d position(odom->pose.pose.position.x, + odom->pose.pose.position.y, + odom->pose.pose.position.z); + const Eigen::Vector3d velocity(odom->twist.twist.linear.x, + odom->twist.twist.linear.y, + odom->twist.twist.linear.z); + + cur_odom_init_ = true; + current_yaw_ = tf::getYaw(odom->pose.pose.orientation); + cur_pos_ = position; + cur_vel_ = velocity; + + controller_.setPosition(position); + controller_.setVelocity(velocity); + + if (position_cmd_init_) + { + // We set position_cmd_updated_ = false and expect that the + // position_cmd_callback would set it to true since typically a position_cmd + // message would follow an odom message. If not, the position_cmd_callback + // hasn't been called and we publish the so3 command ourselves + // TODO: Fallback to hover if position_cmd hasn't been received for some + // time + if (!position_cmd_updated_) + publishSO3Command(); + position_cmd_updated_ = false; + } + else if ( init_z_ > -9999.0 ) + { + des_pos_ = Eigen::Vector3d(init_x_, init_y_, init_z_); + des_vel_ = Eigen::Vector3d(0,0,0); + des_acc_ = Eigen::Vector3d(0,0,0); + publishSO3Command(); + } + +} + +void +SO3ControlNodelet::enable_motors_callback(const std_msgs::Bool::ConstPtr& msg) +{ + if (msg->data) + ROS_INFO("Enabling motors"); + else + ROS_INFO("Disabling motors"); + + enable_motors_ = msg->data; +} + +void +SO3ControlNodelet::corrections_callback( + const quadrotor_msgs::Corrections::ConstPtr& msg) +{ + corrections_[0] = msg->kf_correction; + corrections_[1] = msg->angle_corrections[0]; + corrections_[2] = msg->angle_corrections[1]; +} + +void +SO3ControlNodelet::imu_callback(const sensor_msgs::Imu& imu) +{ + cur_acc_init_ = true; + const Eigen::Vector3d acc(imu.linear_acceleration.x, + imu.linear_acceleration.y, + imu.linear_acceleration.z); + cur_acc_ = acc; + controller_.setAcc(acc); +} + +void +SO3ControlNodelet::onInit(void) +{ + ros::NodeHandle n(getPrivateNodeHandle()); + + std::string quadrotor_name; + n.param("quadrotor_name", quadrotor_name, std::string("quadrotor")); + frame_id_ = "/" + quadrotor_name; + + double mass; + n.param("mass", mass, 0.5); + controller_.setMass(mass); + + n.param("record_log", record_log_, false); + n.param("PID_logger_file_name", logger_file_name, std::string("/home/lu/")); + n.param("use_external_yaw", use_external_yaw_, true); + + n.param("gains/rot/x", kR_[0], 1.5); + n.param("gains/rot/y", kR_[1], 1.5); + n.param("gains/rot/z", kR_[2], 1.0); + n.param("gains/ang/x", kOm_[0], 0.13); + n.param("gains/ang/y", kOm_[1], 0.13); + n.param("gains/ang/z", kOm_[2], 0.1); + n.param("gains/kx/x", kx_[0], 5.7); + n.param("gains/kx/y", kx_[1], 5.7); + n.param("gains/kx/z", kx_[2], 6.2); + n.param("gains/kv/x", kv_[0], 3.4); + n.param("gains/kv/y", kv_[1], 3.4); + n.param("gains/kv/z", kv_[2], 4.0); + + n.param("corrections/z", corrections_[0], 0.0); + n.param("corrections/r", corrections_[1], 0.0); + n.param("corrections/p", corrections_[2], 0.0); + + n.param("so3_control/init_state_x", init_x_, 0.0); + n.param("so3_control/init_state_y", init_y_, 0.0); + n.param("so3_control/init_state_z", init_z_, -10000.0); + + so3_command_pub_ = n.advertise("so3_cmd", 10); + + odom_sub_ = n.subscribe("odom", 10, &SO3ControlNodelet::odom_callback, this, + ros::TransportHints().tcpNoDelay()); + position_cmd_sub_ = + n.subscribe("position_cmd", 10, &SO3ControlNodelet::position_cmd_callback, + this, ros::TransportHints().tcpNoDelay()); + + enable_motors_sub_ = + n.subscribe("motors", 2, &SO3ControlNodelet::enable_motors_callback, this, + ros::TransportHints().tcpNoDelay()); + corrections_sub_ = + n.subscribe("corrections", 10, &SO3ControlNodelet::corrections_callback, + this, ros::TransportHints().tcpNoDelay()); + + imu_sub_ = n.subscribe("imu", 10, &SO3ControlNodelet::imu_callback, this, + ros::TransportHints().tcpNoDelay()); + + if (record_log_) + initLogRecorder(); + +} + +void SO3ControlNodelet::initLogRecorder() +{ + std::cout << "logger_file_name: " << logger_file_name << std::endl; + std::string temp_file_name = logger_file_name + "PID_logger_"; + time_t timep; + timep = time(0); + char tmp[64]; + strftime(tmp, sizeof(tmp), "%Y_%m_%d_%H_%M_%S", localtime(&timep)); + temp_file_name += tmp; + temp_file_name += ".csv"; + if (logger.is_open()) + { + logger.close(); + } + logger.open(temp_file_name.c_str(), std::ios::out); + std::cout << "PID logger: " << temp_file_name << std::endl; + if (!logger.is_open()) + { + std::cout << "cannot open the logger." << std::endl; + } + else + { + logger << "timestamp" << ','; + logger << "cur_x" << ','; + logger << "cur_y" << ','; + logger << "cur_z" << ','; + logger << "cur_vx" << ','; + logger << "cur_vy" << ','; + logger << "cur_vz" << ','; + logger << "cur_ax" << ','; + logger << "cur_ay" << ','; + logger << "cur_az" << ','; + logger << "not_use" << ','; + logger << "not_use" << ','; + logger << "cur_yaw" << ','; + logger << "des_yaw" << ','; + logger << "des_pos_x" << ','; + logger << "des_pos_y" << ','; + logger << "des_pos_z" << ','; + logger << "des_vel_x" << ','; + logger << "des_vel_y" << ','; + logger << "des_vel_z" << ','; + logger << "des_acc_x" << ','; + logger << "des_acc_y" << ','; + logger << "des_acc_z" << std::endl; + } +} +void SO3ControlNodelet::recordLog(){ + if (logger.is_open()) + { + logger << ros::Time::now().toNSec() << ','; + logger << cur_pos_(0) << ','; + logger << cur_pos_(1) << ','; + logger << cur_pos_(2) << ','; + logger << cur_vel_(0) << ','; + logger << cur_vel_(1) << ','; + logger << cur_vel_(2) << ','; + logger << cur_acc_(0) << ','; + logger << cur_acc_(1) << ','; + logger << cur_acc_(2) << ','; + logger << 0.0 << ','; + logger << 0.0 << ','; + logger << current_yaw_ << ','; + logger << des_yaw_ << ','; + logger << des_pos_(0) << ','; + logger << des_pos_(1) << ','; + logger << des_pos_(2) << ','; + logger << des_vel_(0) << ','; + logger << des_vel_(1) << ','; + logger << des_vel_(2) << ','; + logger << des_acc_(0) << ','; + logger << des_acc_(1) << ','; + logger << des_acc_(2) << std::endl; + } +} + +#include +//PLUGINLIB_DECLARE_CLASS(so3_control, SO3ControlNodelet, SO3ControlNodelet, +// nodelet::Nodelet); +PLUGINLIB_EXPORT_CLASS(SO3ControlNodelet, nodelet::Nodelet); diff --git a/Controller/src/so3_quadrotor_simulator/CMakeLists.txt b/Controller/src/so3_quadrotor_simulator/CMakeLists.txt new file mode 100755 index 0000000..e8ef143 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/CMakeLists.txt @@ -0,0 +1,53 @@ +cmake_minimum_required(VERSION 2.8.3) +project(so3_quadrotor_simulator) + +add_compile_options(-std=c++11) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++11") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + quadrotor_msgs + uav_utils + cmake_utils + tf2_ros + roslib +) + +########### +## Build ## +########### + +find_package(Eigen3 REQUIRED) + +include_directories(${EIGEN3_INCLUDE_DIR}) +include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/ode) +## +find_package(Armadillo REQUIRED) +include_directories(${ARMADILLO_INCLUDE_DIRS}) + +catkin_package( + INCLUDE_DIRS include +# LIBRARIES irobot_msgs + CATKIN_DEPENDS roscpp quadrotor_msgs uav_utils + DEPENDS Eigen3 system_lib +) + +include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +add_library(quadrotor_dynamics src/dynamics/Quadrotor.cpp) + +## Declare a cpp executable +#add_executable(odom_visualization src/odom_visualization.cpp) +add_executable(quadrotor_simulator_so3 + src/quadrotor_simulator_so3.cpp) + +target_link_libraries(quadrotor_simulator_so3 + ${catkin_LIBRARIES} + quadrotor_dynamics +) diff --git a/Controller/src/so3_quadrotor_simulator/config/rviz.rviz b/Controller/src/so3_quadrotor_simulator/config/rviz.rviz new file mode 100644 index 0000000..0a8060b --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/config/rviz.rviz @@ -0,0 +1,212 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /UAV1 + Splitter Ratio: 0.5 + Tree Height: 703 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + - /3D Nav Goal1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 138; 138; 138 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /odom_visualization/robot + Name: UAV + Namespaces: + mesh: true + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 85; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /odom_visualization_1/path + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 0; 255; 0 + Enabled: true + Head Length: 0.300000012 + Head Radius: 0.100000001 + Name: Pose + Shaft Length: 1 + Shaft Radius: 0.0500000007 + Shape: Arrow + Topic: /odom_visualization_1/pose + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /odom_visualization_1/velocity + Name: Velocity + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 255; 85; 255 + Enabled: true + Head Diameter: 0.300000012 + Head Length: 0.200000003 + Length: 0.300000012 + Line Style: Lines + Line Width: 0.0299999993 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.0299999993 + Shaft Diameter: 0.100000001 + Shaft Length: 0.100000001 + Topic: /CircleNode_1/path + Unreliable: false + Value: true + - Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.100000001 + Reference Frame: + Value: true + Enabled: true + Global Options: + Background Color: 89; 89; 89 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + - Class: rviz_plugins/GameLikeInput + RangeX_max: 4 + RangeX_min: -4 + RangeY_max: 2.5 + RangeY_min: -2.5 + RangeZ_max: 1.70000005 + RangeZ_min: 0.800000012 + TopicPoint: point_list + TopicSelect: select_list + TopicSwarm: swarm + - Class: rviz_plugins/Goal3DTool + Topic: goal + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 14.550209 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.054024078 + Y: -0.301004827 + Z: 2.69711113 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.759796858 + Target Frame: + Value: Orbit (rviz) + Yaw: 4.71485233 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 984 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1344 + X: 565 + Y: 24 diff --git a/Controller/src/so3_quadrotor_simulator/config/uav.dae b/Controller/src/so3_quadrotor_simulator/config/uav.dae new file mode 100755 index 0000000..137bc73 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/config/uav.dae @@ -0,0 +1,10597 @@ + + + + + SketchUp 21.1.332 + + 2022-06-18T12:08:53Z + 2022-06-18T12:08:53Z + + Z_UP + + + + + + + 35 + 0 + 1 + 1000 + + + + + + + + + + 0.2670067 0.9549782 -0.1293219 -6.852947 -0.9636947 0.2645917 -0.03583065 1.994254 0 0.1341938 0.9909551 56.23456 0 0 0 1 + + + + 0.7071068 0.7071068 -1.924842e-31 0 -0.7071068 0.7071068 -1.690011e-32 0 1.241567e-31 1.48057e-31 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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(See +# accompanying file LICENSE_1_0.txt or copy at +# http://www.boost.org/LICENSE_1_0.txt) + +import os ; +import modules ; +import path ; + +path-constant BOOST_ROOT : [ os.environ BOOST_ROOT ] ; + +project + : requirements + $(BOOST_ROOT) + clang:-Wno-unused-variable + ; + +# tests, regression tests and examples +build-project libs/numeric/odeint/test ; +build-project libs/numeric/odeint/examples ; + + +# additional tests with external libraries : +# build-project libs/numeric/odeint/test_external/gmp ; +# build-project libs/numeric/odeint/test_external/mkl ; +# build-project libs/numeric/odeint/test_external/gsl ; + + +# docs: +# build-project libs/numeric/odeint/doc ; + + + + + + +###### The following is copied from another sandbox project ##### +###### to get the quickbook and boostbook working ... ##### + +# local boost-root = [ modules.peek : BOOST_ROOT ] ; +# local explore-header-include = $(top)/../.. ; +# use-project /boost/regex : $(boost-root)/libs/regex/build ; + +################################################################## diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/README b/Controller/src/so3_quadrotor_simulator/include/ode/README new file mode 100755 index 0000000..f34601f --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/README @@ -0,0 +1 @@ +odeint is a highly flexible library for solving ordinary differential equations. diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp new file mode 100755 index 0000000..3200fbe --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp @@ -0,0 +1,75 @@ +/* + [auto_generated] + boost/numeric/odeint.hpp + + [begin_description] + Forward include for odeint. Includes nearly everything. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_HPP_INCLUDED + +#include +#include + +// start with ublas wrapper because we need its specializations before including state_wrapper.hpp +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include + +#ifndef __CUDACC__ +/* Bulirsch Stoer with Dense Output does not compile with nvcc + * because of the binomial library used there which relies on unsupported SSE functions + */ +#include +#endif + +#include +#include + +#include + +#include +#include +#include +#include + +/* + * Including this algebra slows down the compilation time + */ +// #include +#include + +#include +#include +#include +#include +#include + +#include + +#include + + +#endif // BOOST_NUMERIC_ODEINT_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp new file mode 100755 index 0000000..096e427 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp @@ -0,0 +1,265 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/array_algebra.hpp + + [begin_description] + Algebra for boost::array. Highly specialized for odeint. Const arguments are introduce to work with odeint. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_ARRAY_ALGEBRA_HPP_INCLUDED + +#include + +namespace boost { +namespace numeric { +namespace odeint { + +struct array_algebra +{ + template< typename T , size_t dim , class Op > + static void for_each1( boost::array< T , dim > &s1 , Op op ) + { + for( size_t i=0 ; i + static void for_each2( boost::array< T1 , dim > &s1 , + const boost::array< T2 , dim > &s2 , Op op ) + { + for( size_t i=0 ; i + static void for_each3( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , Op op ) + { + for( size_t i=0 ; i + static void for_each3( boost::array< T , dim > &s1 , + boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , Op op ) + { + for( size_t i=0 ; i + static void for_each4( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , Op op ) + { + for( size_t i=0 ; i + static void for_each5( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , Op op ) + { + for( size_t i=0 ; i + static void for_each6( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , Op op ) + { + for( size_t i=0 ; i + static void for_each7( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , Op op ) + { + for( size_t i=0 ; i + static void for_each8( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , Op op ) + { + for( size_t i=0 ; i + static void for_each9( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , Op op ) + { + for( size_t i=0 ; i + static void for_each10( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , + const boost::array< T , dim > &s10 , Op op ) + { + for( size_t i=0 ; i + static void for_each11( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , + const boost::array< T , dim > &s10 , + const boost::array< T , dim > &s11 , Op op ) + { + for( size_t i=0 ; i + static void for_each12( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , + const boost::array< T , dim > &s10 , + const boost::array< T , dim > &s11 , + const boost::array< T , dim > &s12 , Op op ) + { + for( size_t i=0 ; i + static void for_each13( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , + const boost::array< T , dim > &s10 , + const boost::array< T , dim > &s11 , + const boost::array< T , dim > &s12 , + const boost::array< T , dim > &s13 , Op op ) + { + for( size_t i=0 ; i + static void for_each14( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , + const boost::array< T , dim > &s10 , + const boost::array< T , dim > &s11 , + const boost::array< T , dim > &s12 , + const boost::array< T , dim > &s13 , + const boost::array< T , dim > &s14 , Op op ) + { + for( size_t i=0 ; i + static void for_each15( boost::array< T , dim > &s1 , + const boost::array< T , dim > &s2 , + const boost::array< T , dim > &s3 , + const boost::array< T , dim > &s4 , + const boost::array< T , dim > &s5 , + const boost::array< T , dim > &s6 , + const boost::array< T , dim > &s7 , + const boost::array< T , dim > &s8 , + const boost::array< T , dim > &s9 , + const boost::array< T , dim > &s10 , + const boost::array< T , dim > &s11 , + const boost::array< T , dim > &s12 , + const boost::array< T , dim > &s13 , + const boost::array< T , dim > &s14 , + const boost::array< T , dim > &s15 , Op op ) + { + for( size_t i=0 ; i + static Value reduce( const boost::array< T , dim > &s , Red red , Value init) + { + for( size_t i=0 ; i ... + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED + +#include + +#include +#include + +#include + + +namespace boost { +namespace numeric { +namespace odeint { + + + +/* + * Notes: + * + * * the results structs are needed in order to work with fusion_algebra + */ +struct default_operations +{ + + template< class Fac1 = double > + struct scale + { + const Fac1 m_alpha1; + + scale( Fac1 alpha1 ) : m_alpha1( alpha1 ) { } + + template< class T1 > + void operator()( T1 &t1 ) const + { + t1 *= m_alpha1; + } + + typedef void result_type; + }; + + template< class Fac1 = double > + struct scale_sum1 + { + const Fac1 m_alpha1; + + scale_sum1( Fac1 alpha1 ) : m_alpha1( alpha1 ) { } + + template< class T1 , class T2 > + void operator()( T1 &t1 , const T2 &t2 ) const + { + t1 = m_alpha1 * t2; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 > + struct scale_sum2 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + + scale_sum2( Fac1 alpha1 , Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } + + template< class T1 , class T2 , class T3 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 > + struct scale_sum3 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + + scale_sum3( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { } + + template< class T1 , class T2 , class T3 , class T4 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 > + struct scale_sum4 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + + scale_sum4( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 > + struct scale_sum5 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + + scale_sum5( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 > + struct scale_sum6 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + + scale_sum6( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 , Fac6 alpha6 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ){ } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 ,const T7 &t7) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 > + struct scale_sum7 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + + scale_sum7( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 > + struct scale_sum8 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + + scale_sum8( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9; + } + + typedef void result_type; + }; + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 > + struct scale_sum9 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + const Fac9 m_alpha9; + + scale_sum9( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10; + } + + typedef void result_type; + }; + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 > + struct scale_sum10 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + const Fac9 m_alpha9; + const Fac10 m_alpha10; + + scale_sum10( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , Fac10 alpha10 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11; + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 > + struct scale_sum11 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + const Fac9 m_alpha9; + const Fac10 m_alpha10; + const Fac11 m_alpha11; + + scale_sum11( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , + Fac10 alpha10 , Fac11 alpha11 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12; + } + + typedef void result_type; + }; + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 > + struct scale_sum12 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + const Fac9 m_alpha9; + const Fac10 m_alpha10; + const Fac11 m_alpha11; + const Fac12 m_alpha12; + + scale_sum12( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , + Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13; + } + + typedef void result_type; + }; + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 , class Fac13 = Fac12 > + struct scale_sum13 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + const Fac9 m_alpha9; + const Fac10 m_alpha10; + const Fac11 m_alpha11; + const Fac12 m_alpha12; + const Fac13 m_alpha13; + + scale_sum13( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , + Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 , Fac13 alpha13 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) , m_alpha13( alpha13 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 , class T14 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 , const T14 &t14 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13 + m_alpha13 * t14; + } + + typedef void result_type; + }; + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 , class Fac8 = Fac7 , class Fac9 = Fac8 , class Fac10 = Fac9 , class Fac11 = Fac10 , class Fac12 = Fac11 , class Fac13 = Fac12 , class Fac14 = Fac13 > + struct scale_sum14 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + const Fac8 m_alpha8; + const Fac9 m_alpha9; + const Fac10 m_alpha10; + const Fac11 m_alpha11; + const Fac12 m_alpha12; + const Fac13 m_alpha13; + const Fac14 m_alpha14; + + scale_sum14( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , + Fac5 alpha5 , Fac6 alpha6 , Fac7 alpha7 , Fac8 alpha8 , Fac9 alpha9 , + Fac10 alpha10 , Fac11 alpha11 , Fac12 alpha12 , Fac13 alpha13 , Fac14 alpha14 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) , m_alpha8( alpha8 ) , m_alpha9( alpha9 ) , m_alpha10( alpha10 ) , m_alpha11( alpha11 ) , m_alpha12( alpha12 ) , m_alpha13( alpha13 ) , m_alpha14( alpha14 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 , class T7 , class T8 , class T9 , class T10 , class T11 , class T12 , class T13 , class T14 , class T15 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 , const T7 &t7 , const T8 &t8 , const T9 &t9 , const T10 &t10 , const T11 &t11 , const T12 &t12 , const T13 &t13 , const T14 &t14 , const T15 &t15 ) const + { + t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6 + m_alpha6 * t7 + m_alpha7 * t8 + m_alpha8 * t9 + m_alpha9 * t10 + m_alpha10 * t11 + m_alpha11 * t12 + m_alpha12 * t13 + m_alpha13 * t14 + m_alpha14 * t15; + } + + typedef void result_type; + }; + + template< class Fac1 = double , class Fac2 = Fac1 > + struct scale_sum_swap2 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + + scale_sum_swap2( Fac1 alpha1 , Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } + + template< class T1 , class T2 , class T3 > + void operator()( T1 &t1 , T2 &t2 , const T3 &t3) const + { + const T1 tmp( t1 ); + t1 = m_alpha1 * t2 + m_alpha2 * t3; + t2 = tmp; + } + + typedef void result_type; + }; + + /* + * for usage in for_each2 + * + * Works with boost::units by eliminating the unit + */ + template< class Fac1 = double > + struct rel_error + { + const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; + + rel_error( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) { } + + + template< class T1 , class T2 , class T3 > + void operator()( T3 &t3 , const T1 &t1 , const T2 &t2 ) const + { + using std::abs; + set_unit_value( t3 , abs( get_unit_value( t3 ) ) / ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( t1 ) ) + m_a_dxdt * abs( get_unit_value( t2 ) ) ) ) ); + } + + typedef void result_type; + }; + + + /* + * for usage in for_each3 + * + * used in the controller for the rosenbrock4 method + * + * Works with boost::units by eliminating the unit + */ + template< class Fac1 = double > + struct default_rel_error + { + const Fac1 m_eps_abs , m_eps_rel ; + + default_rel_error( Fac1 eps_abs , Fac1 eps_rel ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) { } + + + /* + * xerr = xerr / ( eps_abs + eps_rel * max( x , x_old ) ) + */ + template< class T1 , class T2 , class T3 > + void operator()( T3 &t3 , const T1 &t1 , const T2 &t2 ) const + { + BOOST_USING_STD_MAX(); + using std::abs; + Fac1 x1 = abs( get_unit_value( t1 ) ) , x2 = abs( get_unit_value( t2 ) ); + set_unit_value( t3 , abs( get_unit_value( t3 ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( x1 , x2 ) ) ); + } + + typedef void result_type; + }; + + + + /* + * for usage in reduce + */ + + template< class Value > + struct maximum + { + template< class Fac1 , class Fac2 > + Value operator()( Fac1 t1 , const Fac2 t2 ) const + { + using std::abs; + Value a1 = abs( get_unit_value( t1 ) ) , a2 = abs( get_unit_value( t2 ) ); + return ( a1 < a2 ) ? a2 : a1 ; + } + + typedef Value result_type; + }; + + + + + + template< class Fac1 = double > + struct rel_error_max + { + const Fac1 m_eps_abs , m_eps_rel; + + rel_error_max( Fac1 eps_abs , Fac1 eps_rel ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) + { } + + template< class Res , class T1 , class T2 , class T3 > + Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &x_err ) + { + BOOST_USING_STD_MAX(); + using std::abs; + Res tmp = abs( get_unit_value( x_err ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( x_old ) , abs( x ) ) ); + return max BOOST_PREVENT_MACRO_SUBSTITUTION ( r , tmp ); + } + }; + + + template< class Fac1 = double > + struct rel_error_max2 + { + const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; + + rel_error_max2( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) + { } + + template< class Res , class T1 , class T2 , class T3 , class T4 > + Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &dxdt_old , const T4 &x_err ) + { + BOOST_USING_STD_MAX(); + using std::abs; + Res tmp = abs( get_unit_value( x_err ) ) / + ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( x_old ) ) + m_a_dxdt * abs( get_unit_value( dxdt_old ) ) ) ); + return max BOOST_PREVENT_MACRO_SUBSTITUTION ( r , tmp ); + } + }; + + + + + template< class Fac1 = double > + struct rel_error_l2 + { + const Fac1 m_eps_abs , m_eps_rel; + + rel_error_l2( Fac1 eps_abs , Fac1 eps_rel ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) + { } + + template< class Res , class T1 , class T2 , class T3 > + Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &x_err ) + { + BOOST_USING_STD_MAX(); + using std::abs; + Res tmp = abs( get_unit_value( x_err ) ) / ( m_eps_abs + m_eps_rel * max BOOST_PREVENT_MACRO_SUBSTITUTION ( abs( x_old ) , abs( x ) ) ); + return r + tmp * tmp; + } + }; + + + + + template< class Fac1 = double > + struct rel_error_l2_2 + { + const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; + + rel_error_l2_2( Fac1 eps_abs , Fac1 eps_rel , Fac1 a_x , Fac1 a_dxdt ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) + { } + + template< class Res , class T1 , class T2 , class T3 , class T4 > + Res operator()( Res r , const T1 &x_old , const T2 &x , const T3 &dxdt_old , const T4 &x_err ) + { + using std::abs; + Res tmp = abs( get_unit_value( x_err ) ) / + ( m_eps_abs + m_eps_rel * ( m_a_x * abs( get_unit_value( x_old ) ) + m_a_dxdt * abs( get_unit_value( dxdt_old ) ) ) ); + return r + tmp * tmp; + } + }; + + + + + + +}; + + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DEFAULT_OPERATIONS_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp new file mode 100755 index 0000000..8693e84 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp @@ -0,0 +1,165 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/detail/for_each.hpp + + [begin_description] + Default for_each implementations. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED + +namespace boost { +namespace numeric { +namespace odeint { +namespace detail { + + + template< class Iterator1 , class Operation > + inline void for_each1( Iterator1 first1 , Iterator1 last1 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ ); + } + + + template< class Iterator1 , class Iterator2 , class Operation > + inline void for_each2( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ ); + } + + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Operation > + inline void for_each3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ ); + } + + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Operation > + inline void for_each4( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Iterator4 first4, Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ ); + } + + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Operation > + inline void for_each5( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ ); + } + + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Operation > + inline void for_each6( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ ); + } + + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Operation > + inline void for_each7( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Operation > + inline void for_each8( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Operation > + inline void for_each9( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Operation > + inline void for_each10( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Iterator10 first10 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Operation > + inline void for_each11( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Operation > + inline void for_each12( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Operation > + inline void for_each13( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Iterator14 , class Operation > + inline void for_each14( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , + Iterator14 first14 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ , *first14++ ); + } + + template< class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Iterator5 , class Iterator6 , class Iterator7 , class Iterator8 , class Iterator9 , class Iterator10 , class Iterator11 , class Iterator12 , class Iterator13 , class Iterator14 , class Iterator15 , class Operation > + inline void for_each15( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, + Iterator4 first4, Iterator5 first5, Iterator6 first6 , Iterator7 first7 , Iterator8 first8 , + Iterator9 first9 , Iterator10 first10 , Iterator11 first11 , Iterator12 first12 , Iterator13 first13 , + Iterator14 first14 , Iterator15 first15 , Operation op ) + { + for( ; first1 != last1 ; ) + op( *first1++ , *first2++ , *first3++ , *first4++ , *first5++ , *first6++ , *first7++ , *first8++ , *first9++ , *first10++ , *first11++ , *first12++ , *first13++ , *first14++ , *first15++ ); + } + + +} // detail +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_FOR_EACH_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp new file mode 100755 index 0000000..ef97327 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp @@ -0,0 +1,43 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/detail/macros.hpp + + [begin_description] + Some macros for type checking. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED + + +//type traits aren't working with nvcc +#ifndef __CUDACC__ +#include +#include + +#define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) \ + BOOST_STATIC_ASSERT(( boost::is_same< typename boost::remove_const< Type1 >::type , Type2 >::value )) + +#else +//empty macro for nvcc +#define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) + +#endif // __CUDACC__ + + + +/* +#define BOOST_ODEINT_CHECK_OPERATION_ARITY( Operation , Arity ) \ + BOOST_STATIC_ASSERT(( boost::function_traits< Operation >::arity == Arity )) + */ + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp new file mode 100755 index 0000000..247d03d --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp @@ -0,0 +1,67 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/detail/reduce.hpp + + [begin_description] + Default reduce implementation. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED + + +namespace boost { +namespace numeric { +namespace odeint { +namespace detail { + +template< class ValueType , class Iterator1 , class Reduction > +inline ValueType reduce( Iterator1 first1 , Iterator1 last1 , Reduction red, ValueType init) +{ + for( ; first1 != last1 ; ) + init = red( init , *first1++ ); + return init; +} + + +template< class ValueType , class Iterator1 , class Iterator2 , class Reduction > +inline ValueType reduce2( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Reduction red, ValueType init) +{ + for( ; first1 != last1 ; ) + init = red( init , *first1++ , *first2++ ); + return init; +} + +template< class ValueType , class Iterator1 , class Iterator2 , class Iterator3 , class Reduction > +inline ValueType reduce3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3 , Reduction red, ValueType init) +{ + for( ; first1 != last1 ; ) + init = red( init , *first1++ , *first2++ , *first3++ ); + return init; +} + +template< class ValueType , class Iterator1 , class Iterator2 , class Iterator3 , class Iterator4 , class Reduction > +inline ValueType reduce4( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3 , Iterator4 first4 , Reduction red, ValueType init) +{ + for( ; first1 != last1 ; ) + init = red( init , *first1++ , *first2++ , *first3++ , *first4++ ); + return init; +} + + +} // detail +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_REDUCE_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp new file mode 100755 index 0000000..81c4070 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp @@ -0,0 +1,186 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/fusion_algebra.hpp + + [begin_description] + Algebra for boost::fusion sequences. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED + + +#include +#include +#include +#include +#include + +namespace boost { +namespace numeric { +namespace odeint { + + +struct fusion_algebra +{ + template< class S1 , class Op > + static void for_each1( S1 &s1 , Op op ) + { + boost::fusion::for_each( s1 , op ); + }; + + + template< class S1 , class S2 , class Op > + static void for_each2( S1 &s1 , S2 &s2 , Op op ) + { + typedef boost::fusion::vector< S1& , S2& > Sequences; + Sequences sequences( s1 , s2 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + + template< class S1 , class S2 , class S3 , class Op > + static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) + { + typedef boost::fusion::vector< S1& , S2& , S3& > Sequences; + Sequences sequences( s1 , s2 , s3 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class Op > + static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op ) + { + typedef boost::fusion::vector< S1& , S2& , S3& , S4& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op > + static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op ) + { + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op > + static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op ) + { + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class Op > + static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op ) + { + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class Op > + static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 8 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class Op > + static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 9 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class Op > + static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 10 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class Op > + static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 11 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 11 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op > + static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 12 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 12 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op > + static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 13 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 13 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op > + static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 14 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 14 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& , S14& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op > + static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op ) + { + BOOST_STATIC_ASSERT_MSG( BOOST_FUSION_INVOKE_MAX_ARITY >= 15 , "Macro Parameter BOOST_FUSION_INVOKE_MAX_ARITY to small!" ); + BOOST_STATIC_ASSERT_MSG( BOOST_RESULT_OF_NUM_ARGS >= 15 , "Macro Parameter BOOST_RESULT_OF_NUM_ARGS to small!" ); + typedef boost::fusion::vector< S1& , S2& , S3& , S4& , S5& , S6& , S7& , S8& , S9& , S10& , S11& , S12& , S13& , S14& , S15& > Sequences; + Sequences sequences( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 , s15 ); + boost::fusion::for_each( boost::fusion::zip_view< Sequences >( sequences ) , boost::fusion::make_fused( op ) ); + } + + template< class Value , class S , class Reduction > + static Value reduce( const S &s , Reduction red , Value init) + { + return boost::fusion::accumulate( s , init , red ); + } +}; + + + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_FUSION_ALGEBRA_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp new file mode 100755 index 0000000..c54e09b --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp @@ -0,0 +1,159 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/range_algebra.hpp + + [begin_description] + Default algebra, which works with the most state types, like vector< double >, boost::array< double >, boost::range. + Internally is uses boost::range to obtain the begin and end iterator of the according sequence. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED + +#include +#include + +#include +#include +#include + +namespace boost { +namespace numeric { +namespace odeint { + +struct range_algebra +{ + template< class S1 , class Op > + static void for_each1( S1 &s1 , Op op ) + { + detail::for_each1( boost::begin( s1 ) , boost::end( s1 ) , + op ); + } + + template< class S1 , class S2 , class Op > + static void for_each2( S1 &s1 , S2 &s2 , Op op ) + { + detail::for_each2( boost::begin( s1 ) , boost::end( s1 ) , + boost::begin( s2 ) , op ); + } + + template< class S1 , class S2 , class S3 , class Op > + static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) + { + detail::for_each3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class Op > + static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op ) + { + detail::for_each4( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op > + static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op ) + { + detail::for_each5( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op > + static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op ) + { + detail::for_each6( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class Op > + static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op ) + { + detail::for_each7( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class Op > + static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op ) + { + detail::for_each8( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class Op > + static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op ) + { + detail::for_each9( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class Op > + static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op ) + { + detail::for_each10( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class Op > + static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op ) + { + detail::for_each11( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op > + static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op ) + { + detail::for_each12( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op > + static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op ) + { + detail::for_each13( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op > + static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op ) + { + detail::for_each14( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , boost::begin( s14 ) , op ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op > + static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op ) + { + detail::for_each15( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , boost::begin( s5 ) , boost::begin( s6 ) , boost::begin( s7 ) , boost::begin( s8 ) , boost::begin( s9 ) , boost::begin( s10 ) , boost::begin( s11 ) , boost::begin( s12 ) , boost::begin( s13 ) , boost::begin( s14 ) , boost::begin( s15 ) , op ); + } + + template< class Value , class S , class Red > + static Value reduce( const S &s , Red red , Value init) + { + return detail::reduce( boost::begin( s ) , boost::end( s ) , red , init ); + } + + template< class Value , class S1 , class S2 , class Red > + static Value reduce2( const S1 &s1 , const S2 &s2 , Red red , Value init ) + { + return detail::reduce2( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , red , init ); + } + + template< class Value , class S1 , class S2 , class S3 , class Red > + static Value reduce3( const S1 &s1 , const S2 &s2 , const S3 &s3 , Red red , Value init ) + { + return detail::reduce3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , red , init ); + } + + template< class Value , class S1 , class S2 , class S3 , class S4 , class Red > + static Value reduce4( const S1 &s1 , const S2 &s2 , const S3 &s3 , const S4 &s4 , Red red , Value init ) + { + return detail::reduce4( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , boost::begin( s4 ) , red , init ); + } + + +}; + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_RANGE_ALGEBRA_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp new file mode 100755 index 0000000..4673b9b --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp @@ -0,0 +1,156 @@ +/* + [auto_generated] + boost/numeric/odeint/algebra/vector_space_algebra.hpp + + [begin_description] + An algebra for types which have vector space semantics, hence types on which the operators +,-,* are well defined. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED + +#include + + +namespace boost { +namespace numeric { +namespace odeint { + + +/* + * This class template has to be overload in order to call vector_space_algebra::reduce + */ +template< class State > struct vector_space_reduce; + +/* + * Example: instantiation for sole doubles + */ +template<> +struct vector_space_reduce< double > +{ + template< class Op > + double operator()( double x , Op op , double init ) const + { + init = op( init , x ); + return init; + } +}; + + +struct vector_space_algebra +{ + template< class S1 , class Op > + static void for_each1( S1 &s1 , Op op ) + { + // ToDo : build checks, that the +-*/ operators are well defined + op( s1 ); + } + + template< class S1 , class S2 , class Op > + static void for_each2( S1 &s1 , S2 &s2 , Op op ) + { + op( s1 , s2 ); + } + + template< class S1 , class S2 , class S3 , class Op > + static void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) + { + op( s1 , s2 , s3 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class Op > + static void for_each4( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , Op op ) + { + op( s1 , s2 , s3 , s4 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class Op > + static void for_each5( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 , class Op > + static void for_each6( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class Op > + static void for_each7( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class Op > + static void for_each8( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class Op > + static void for_each9( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class Op > + static void for_each10( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class Op > + static void for_each11( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class Op > + static void for_each12( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class Op > + static void for_each13( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class Op > + static void for_each14( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 ); + } + + template< class S1 , class S2 , class S3 , class S4 , class S5 , class S6 ,class S7 , class S8 , class S9 , class S10 , class S11 , class S12 , class S13 , class S14 , class S15 , class Op > + static void for_each15( S1 &s1 , S2 &s2 , S3 &s3 , S4 &s4 , S5 &s5 , S6 &s6 , S7 &s7 , S8 &s8 , S9 &s9 , S10 &s10 , S11 &s11 , S12 &s12 , S13 &s13 , S14 &s14 , S15 &s15 , Op op ) + { + op( s1 , s2 , s3 , s4 , s5 , s6 , s7 , s8 , s9 , s10 , s11 , s12 , s13 , s14 , s15 ); + } + + template< class Value , class S , class Red > + static Value reduce( const S &s , Red red , Value init ) + { + boost::numeric::odeint::vector_space_reduce< S > r; + return r( s , red , init ); + } +}; + + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_ALGEBRA_VECTOR_SPACE_ALGEBRA_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp new file mode 100755 index 0000000..0d08982 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp @@ -0,0 +1,47 @@ +/* + [auto_generated] + boost/numeric/odeint/config.hpp + + [begin_description] + Sets configurations for odeint and used libraries. Should be included before any other odeint library + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + +#ifndef BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED + +//increase macro variable to allow rk78 scheme +#ifndef FUSION_MAX_VECTOR_SIZE +#define FUSION_MAX_VECTOR_SIZE 15 +#endif + +/* + * the following definitions are only required if fusion vectors are used as state types + * in the rk78 scheme + * they should be defined by the user if required, see e.g. libs/numeric/examples/harmonic_oscillator_units.cpp + */ +#ifndef BOOST_FUSION_INVOKE_MAX_ARITY +#define BOOST_FUSION_INVOKE_MAX_ARITY 15 +#endif + +#ifndef BOOST_RESULT_OF_NUM_ARGS +#define BOOST_RESULT_OF_NUM_ARGS 15 +#endif +/* + */ + +#include + +#if __cplusplus >= 201103L +#define BOOST_NUMERIC_ODEINT_CXX11 1 +#endif + + +#endif // BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp new file mode 100755 index 0000000..c961a89 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp @@ -0,0 +1,229 @@ +/* + [auto_generated] + boost/numeric/odeint/external/gsl/gsl_wrapper.hpp + + [begin_description] + Wrapper for gsl_vector. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED + +#include + +#include + +#include +#include +#include + + +#include +#include +#include + +class const_gsl_vector_iterator; + +/* + * defines an iterator for gsl_vector + */ +class gsl_vector_iterator : public boost::iterator_facade< gsl_vector_iterator , double , boost::random_access_traversal_tag > +{ +public : + + gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { } + explicit gsl_vector_iterator( gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { } + friend gsl_vector_iterator end_iterator( gsl_vector * ); + +private : + + friend class boost::iterator_core_access; + friend class const_gsl_vector_iterator; + + void increment( void ) { m_p += m_stride; } + void decrement( void ) { m_p -= m_stride; } + void advance( ptrdiff_t n ) { m_p += n*m_stride; } + bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } + bool equal( const const_gsl_vector_iterator &other ) const; + double& dereference( void ) const { return *m_p; } + + double *m_p; + size_t m_stride; +}; + + + +/* + * defines an const iterator for gsl_vector + */ +class const_gsl_vector_iterator : public boost::iterator_facade< const_gsl_vector_iterator , const double , boost::random_access_traversal_tag > +{ +public : + + const_gsl_vector_iterator( void ): m_p(0) , m_stride( 0 ) { } + explicit const_gsl_vector_iterator( const gsl_vector *p ) : m_p( p->data ) , m_stride( p->stride ) { } + const_gsl_vector_iterator( const gsl_vector_iterator &p ) : m_p( p.m_p ) , m_stride( p.m_stride ) { } + +private : + + friend class boost::iterator_core_access; + friend class gsl_vector_iterator; + friend const_gsl_vector_iterator end_iterator( const gsl_vector * ); + + void increment( void ) { m_p += m_stride; } + void decrement( void ) { m_p -= m_stride; } + void advance( ptrdiff_t n ) { m_p += n*m_stride; } + bool equal( const const_gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } + bool equal( const gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } + const double& dereference( void ) const { return *m_p; } + + const double *m_p; + size_t m_stride; +}; + + +bool gsl_vector_iterator::equal( const const_gsl_vector_iterator &other ) const { return this->m_p == other.m_p; } + + +gsl_vector_iterator end_iterator( gsl_vector *x ) +{ + gsl_vector_iterator iter( x ); + iter.m_p += iter.m_stride * x->size; + return iter; +} + +const_gsl_vector_iterator end_iterator( const gsl_vector *x ) +{ + const_gsl_vector_iterator iter( x ); + iter.m_p += iter.m_stride * x->size; + return iter; +} + + + + +namespace boost +{ +template<> +struct range_mutable_iterator< gsl_vector* > +{ + typedef gsl_vector_iterator type; +}; + +template<> +struct range_const_iterator< gsl_vector* > +{ + typedef const_gsl_vector_iterator type; +}; +} // namespace boost + + + + +// template<> +inline gsl_vector_iterator range_begin( gsl_vector *x ) +{ + return gsl_vector_iterator( x ); +} + +// template<> +inline const_gsl_vector_iterator range_begin( const gsl_vector *x ) +{ + return const_gsl_vector_iterator( x ); +} + +// template<> +inline gsl_vector_iterator range_end( gsl_vector *x ) +{ + return end_iterator( x ); +} + +// template<> +inline const_gsl_vector_iterator range_end( const gsl_vector *x ) +{ + return end_iterator( x ); +} + + + + + + + +namespace boost { +namespace numeric { +namespace odeint { + + +template<> +struct is_resizeable< gsl_vector* > +{ + //struct type : public boost::true_type { }; + typedef boost::true_type type; + const static bool value = type::value; +}; + +template <> +struct same_size_impl< gsl_vector* , gsl_vector* > +{ + static bool same_size( const gsl_vector* x , const gsl_vector* y ) + { + return x->size == y->size; + } +}; + +template <> +struct resize_impl< gsl_vector* , gsl_vector* > +{ + static void resize( gsl_vector* x , const gsl_vector* y ) + { + gsl_vector_free( x ); + x = gsl_vector_alloc( y->size ); + } +}; + +template<> +struct state_wrapper< gsl_vector* > +{ + typedef double value_type; + typedef gsl_vector* state_type; + typedef state_wrapper< gsl_vector* > state_wrapper_type; + + state_type m_v; + + state_wrapper( ) + { + m_v = gsl_vector_alloc( 1 ); + } + + state_wrapper( const state_wrapper_type &x ) + { + resize( m_v , x.m_v ); + gsl_vector_memcpy( m_v , x.m_v ); + } + + + ~state_wrapper() + { + gsl_vector_free( m_v ); + } + +}; + +} // odeint +} // numeric +} // boost + + + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_GSL_GSL_WRAPPER_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp new file mode 100755 index 0000000..c1e0891 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp @@ -0,0 +1,181 @@ +/* + [auto_generated] + boost/numeric/odeint/external/mkl/mkl_operations.hpp + + [begin_description] + Wrapper classes for intel math kernel library types. + Get a free, non-commercial download of MKL at + http://software.intel.com/en-us/articles/non-commercial-software-download/ + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED + +#include + +#include +#include + +/* exemplary example for writing bindings to the Intel MKL library + * see test/mkl for how to use mkl with odeint + * this is a quick and dirty implementation showing the general possibility. + * It works only with containers based on double and sequential memory allocation. + */ + +namespace boost { +namespace numeric { +namespace odeint { + +/* only defined for doubles */ +struct mkl_operations +{ + //template< class Fac1 , class Fac2 > struct scale_sum2; + + template< class F1 = double , class F2 = F1 > + struct scale_sum2 + { + typedef double Fac1; + typedef double Fac2; + const Fac1 m_alpha1; + const Fac2 m_alpha2; + + scale_sum2( const Fac1 alpha1 , const Fac2 alpha2 ) : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } + + template< class T1 , class T2 , class T3 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3) const + { // t1 = m_alpha1 * t2 + m_alpha2 * t3; + // we get Containers that have size() and [i]-access + + const int n = t1.size(); + //boost::numeric::odeint::copy( t1 , t3 ); + if( &(t2[0]) != &(t1[0]) ) + { + cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); + } + cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); + //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); + } + }; + + template< class F1 = double , class F2 = F1 , class F3 = F2 > + struct scale_sum3 + { + typedef double Fac1; + typedef double Fac2; + typedef double Fac3; + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + + scale_sum3( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { } + + template< class T1 , class T2 , class T3 , class T4 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 ) const + { // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4; + // we get Containers that have size() and [i]-access + + const int n = t1.size(); + //boost::numeric::odeint::copy( t1 , t3 ); + if( &(t2[0]) != &(t1[0]) ) + { + cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); + } + cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); + //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); + cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 ); + } + }; + + template< class F1 = double , class F2 = F1 , class F3 = F2 , class F4 = F3 > + struct scale_sum4 + { + typedef double Fac1; + typedef double Fac2; + typedef double Fac3; + typedef double Fac4; + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + + scale_sum4( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 ) const + { // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5; + // we get Containers that have size() and [i]-access + + const int n = t1.size(); + //boost::numeric::odeint::copy( t1 , t3 ); + if( &(t2[0]) != &(t1[0]) ) + { + cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); + } + + cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); + //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); + cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha4 , &(t5[0]) , 1 , &(t1[0]) , 1 ); + } + }; + + + template< class F1 = double , class F2 = F1 , class F3 = F2 , class F4 = F3 , class F5 = F4 > + struct scale_sum5 + { + typedef double Fac1; + typedef double Fac2; + typedef double Fac3; + typedef double Fac4; + typedef double Fac5; + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + + scale_sum5( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 , const Fac5 alpha5 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 > + void operator()( T1 &t1 , const T2 &t2 , const T3 &t3 , const T4 &t4 , const T5 &t5 , const T6 &t6 ) const + { // t1 = m_alpha1 * t2 + m_alpha2 * t3 + m_alpha3 * t4 + m_alpha4 * t5 + m_alpha5 * t6; + // we get Containers that have size() and [i]-access + + const int n = t1.size(); + //boost::numeric::odeint::copy( t1 , t3 ); + if( &(t2[0]) != &(t1[0]) ) + { + cblas_dcopy( n , &(t2[0]) , 1 , &(t1[0]) , 1 ); + } + + cblas_dscal( n , m_alpha1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha2 , &(t3[0]) , 1 , &(t1[0]) , 1 ); + //daxpby( &n , &m_alpha2 , &(t3[0]) , &one , &m_alpha1 , &(t1[0]) , &one ); + cblas_daxpy( n , m_alpha3 , &(t4[0]) , 1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha4 , &(t5[0]) , 1 , &(t1[0]) , 1 ); + cblas_daxpy( n , m_alpha5 , &(t6[0]) , 1 , &(t1[0]) , 1 ); + } + }; + +}; + +} // odeint +} // numeric +} // boost + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_MKL_MKL_OPERATIONS_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp new file mode 100755 index 0000000..1e7afe6 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp @@ -0,0 +1,162 @@ +/* +[begin_description] +Modification of the implicit Euler method, works with the MTL4 matrix library only. +[end_description] + +Copyright 2009-2011 Karsten Ahnert +Copyright 2009-2011 Mario Mulansky +Copyright 2012 Andreas Angelopoulos + +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or +copy at http://www.boost.org/LICENSE_1_0.txt) +*/ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED + + +#include + +#include +#include +#include + +#include + +#include +#include + + + + +namespace boost { +namespace numeric { +namespace odeint { + + +template< class ValueType , class Resizer = initially_resizer > +class implicit_euler_mtl4 +{ + +public: + + typedef ValueType value_type; + typedef value_type time_type; + typedef mtl::dense_vector state_type; + + typedef state_wrapper< state_type > wrapped_state_type; + typedef state_type deriv_type; + typedef state_wrapper< deriv_type > wrapped_deriv_type; + typedef mtl::compressed2D< value_type > matrix_type; + typedef state_wrapper< matrix_type > wrapped_matrix_type; + + typedef Resizer resizer_type; + typedef stepper_tag stepper_category; + + typedef implicit_euler_mtl4< ValueType , Resizer > stepper_type; + + + implicit_euler_mtl4( const value_type epsilon = 1E-6 ) + : m_epsilon( epsilon ) , m_resizer() , + m_dxdt() , m_x() , + m_identity() , m_jacobi() + { } + + + template< class System > + void do_step( System system , state_type &x , time_type t , time_type dt ) + { + typedef typename odeint::unwrap_reference< System >::type system_type; + typedef typename odeint::unwrap_reference< typename system_type::first_type >::type deriv_func_type; + typedef typename odeint::unwrap_reference< typename system_type::second_type >::type jacobi_func_type; + system_type &sys = system; + deriv_func_type &deriv_func = sys.first; + jacobi_func_type &jacobi_func = sys.second; + + m_resizer.adjust_size( x , detail::bind( + &stepper_type::template resize_impl< state_type > , detail::ref( *this ) , detail::_1 ) ); + + m_identity.m_v = 1; + + t += dt; + m_x.m_v = x; + + deriv_func( x , m_dxdt.m_v , t ); + jacobi_func( x , m_jacobi.m_v , t ); + + + m_dxdt.m_v *= -dt; + + m_jacobi.m_v *= dt; + m_jacobi.m_v -= m_identity.m_v ; + + + + // using ilu_0 preconditioning -incomplete LU factorisation + // itl::pc::diagonal L(m_jacobi.m_v); + itl::pc::ilu_0 L( m_jacobi.m_v ); + + solve( m_jacobi.m_v , m_x.m_v , m_dxdt.m_v , L ); + x+= m_x.m_v; + + + } + + + template< class StateType > + void adjust_size( const StateType &x ) + { + resize_impl( x ); + } + + +private: + + + /* + Applying approximate iterative linear solvers + default solver is Biconjugate gradient stabilized method + itl::bicgstab(A, x, b, L, iter); + */ + template < class LinearOperator, class HilbertSpaceX, class HilbertSpaceB, class Preconditioner> + void solve(const LinearOperator& A, HilbertSpaceX& x, const HilbertSpaceB& b, + const Preconditioner& L, int max_iteractions =500) + { + // Termination criterion: r < 1e-6 * b or N iterations + itl::basic_iteration< double > iter( b , max_iteractions , 1e-6 ); + itl::bicgstab( A , x , b , L , iter ); + + } + + + template< class StateIn > + bool resize_impl( const StateIn &x ) + { + bool resized = false; + resized |= adjust_size_by_resizeability( m_dxdt , x , typename is_resizeable::type() ); + resized |= adjust_size_by_resizeability( m_x , x , typename is_resizeable::type() ); + resized |= adjust_size_by_resizeability( m_identity , x , typename is_resizeable::type() ); + resized |= adjust_size_by_resizeability( m_jacobi , x , typename is_resizeable::type() ); + return resized; + } + + +private: + + value_type m_epsilon; + resizer_type m_resizer; + wrapped_deriv_type m_dxdt; + wrapped_state_type m_x; + wrapped_matrix_type m_identity; + wrapped_matrix_type m_jacobi; +}; + + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_IMPLICIT_EULER_MTL4_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp new file mode 100755 index 0000000..b7f94d1 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp @@ -0,0 +1,133 @@ +/* +[begin_description] +Modification of the implicit Euler method, works with the MTL4 matrix library only. +[end_description] + +Copyright 2009-2011 Karsten Ahnert +Copyright 2009-2011 Mario Mulansky +Copyright 2012 Andreas Angelopoulos + +Distributed under the Boost Software License, Version 1.0. +(See accompanying file LICENSE_1_0.txt or +copy at http://www.boost.org/LICENSE_1_0.txt) +*/ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED + +#include +#include +#include + +#include +#include +#include + + +namespace boost { +namespace numeric { +namespace odeint { + + +template< class Value , class Parameters > +struct is_resizeable< mtl::dense_vector< Value , Parameters > > +{ + typedef boost::true_type type; + const static bool value = type::value; +}; + +template< class Value , class Parameters > +struct is_resizeable< mtl::dense2D< Value , Parameters > > +{ + typedef boost::true_type type; + const static bool value = type::value; +}; + +template< class Value , class Parameters > +struct is_resizeable< mtl::compressed2D< Value , Parameters > > +{ + typedef boost::true_type type; + const static bool value = type::value; +}; + + + + +template< class Value , class Parameters > +struct same_size_impl< mtl::dense_vector< Value , Parameters > , mtl::dense_vector< Value , Parameters > > +{ + static bool same_size( const mtl::dense_vector< Value , Parameters > &v1 , + const mtl::dense_vector< Value , Parameters > &v2 ) + { + return mtl::size( v1 ) == mtl::size( v2 ); + } +}; + +template< class Value , class Parameters > +struct resize_impl< mtl::dense_vector< Value , Parameters > , mtl::dense_vector< Value , Parameters > > +{ + static void resize( mtl::dense_vector< Value , Parameters > &v1 , + const mtl::dense_vector< Value , Parameters > &v2 ) + { + v1.change_dim( mtl::size( v2 ) ); + } +}; + + + +template< class Value , class MatrixParameters , class VectorParameters > +struct same_size_impl< mtl::dense2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > +{ + static bool same_size( const mtl::dense2D< Value , MatrixParameters > &m , + const mtl::dense_vector< Value , VectorParameters > &v ) + { + return ( ( mtl::size( v ) == m.num_cols() ) && ( mtl::size( v ) == m.num_rows() ) ); + } +}; + +template< class Value , class MatrixParameters , class VectorParameters > +struct resize_impl< mtl::dense2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > +{ + static void resize( mtl::dense2D< Value , MatrixParameters > &m , + const mtl::dense_vector< Value , VectorParameters > &v ) + { + m.change_dim( mtl::size( v ) , mtl::size( v ) , false ); + } +}; + + + + +template< class Value , class MatrixParameters , class VectorParameters > +struct same_size_impl< mtl::compressed2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > +{ + static bool same_size( const mtl::compressed2D< Value , MatrixParameters > &m , + const mtl::dense_vector< Value , VectorParameters > &v ) + { + return ( ( mtl::size( v ) == m.num_cols() ) && ( mtl::size( v ) == m.num_rows() ) ); + } +}; + +template< class Value , class MatrixParameters , class VectorParameters > +struct resize_impl< mtl::compressed2D< Value , MatrixParameters > , mtl::dense_vector< Value , VectorParameters > > +{ + static void resize( mtl::compressed2D< Value , MatrixParameters > &m , + const mtl::dense_vector< Value , VectorParameters > &v ) + { + m.change_dim( mtl::size( v ) , mtl::size( v ) ); + } +}; + + + + + + + + +} // namespace odeint +} // namespace numeric +} // namespace boost + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_MTL4_RESIZE_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp new file mode 100755 index 0000000..0f6b593 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp @@ -0,0 +1,198 @@ +/* + [auto_generated] + boost/numeric/odeint/external/thrust/thrust_algebra.hpp + + [begin_description] + An algebra for thrusts device_vectors. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED + + +#include +#include +#include + +#include + +namespace boost { +namespace numeric { +namespace odeint { + + + +/** ToDO extend until for_each14 for rk78 */ + +/* + * The const versions are needed for boost.range to work, i.e. + * it allows you to do + * for_each1( make_pair( vec1.begin() , vec1.begin() + 10 ) , op ); + */ + +struct thrust_algebra +{ + template< class StateType , class Operation > + static void for_each1( StateType &s , Operation op ) + { + thrust::for_each( boost::begin(s) , boost::begin(s) , op ); + } + + template< class StateType1 , class StateType2 , class Operation > + static void for_each2( StateType1 &s1 , StateType2 &s2 , Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) ) ) , + op); + } + + template< class StateType1 , class StateType2 , class StateType3 , class Operation > + static void for_each3( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) , + boost::begin(s3) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) , + boost::end(s3) ) ) , + op); + } + + template< class StateType1 , class StateType2 , class StateType3 , class StateType4 , + class Operation > + static void for_each4( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , + Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) , + boost::begin(s3) , + boost::begin(s4) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) , + boost::end(s3) , + boost::end(s4) ) ) , + op); + } + + template< class StateType1 , class StateType2 , class StateType3 , + class StateType4 , class StateType5 ,class Operation > + static void for_each5( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , + StateType5 &s5 , Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) , + boost::begin(s3) , + boost::begin(s4) , + boost::begin(s5) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) , + boost::end(s3) , + boost::end(s4) , + boost::end(s5) ) ) , + op); + } + + template< class StateType1 , class StateType2 , class StateType3 , + class StateType4 , class StateType5 , class StateType6 , class Operation > + static void for_each6( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , + StateType5 &s5 , StateType6 &s6 , Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) , + boost::begin(s3) , + boost::begin(s4) , + boost::begin(s5) , + boost::begin(s6) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) , + boost::end(s3) , + boost::end(s4) , + boost::end(s5) , + boost::end(s6) ) ) , + op); + } + + template< class StateType1 , class StateType2 , class StateType3 , class StateType4 , + class StateType5 , class StateType6 , class StateType7 , class Operation > + static void for_each7( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , + StateType5 &s5 , StateType6 &s6 , StateType7 &s7 , Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) , + boost::begin(s3) , + boost::begin(s4) , + boost::begin(s5) , + boost::begin(s6) , + boost::begin(s7) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) , + boost::end(s3) , + boost::end(s4) , + boost::end(s5) , + boost::end(s6) , + boost::end(s7) ) ) , + op); + } + + template< class StateType1 , class StateType2 , class StateType3 , class StateType4 , + class StateType5 , class StateType6 , class StateType7 , class StateType8 , class Operation > + static void for_each8( StateType1 &s1 , StateType2 &s2 , StateType3 &s3 , StateType4 &s4 , + StateType5 &s5 , StateType6 &s6 , StateType7 &s7 , StateType8 &s8 , Operation op ) + { + thrust::for_each( + thrust::make_zip_iterator( thrust::make_tuple( boost::begin(s1) , + boost::begin(s2) , + boost::begin(s3) , + boost::begin(s4) , + boost::begin(s5) , + boost::begin(s6) , + boost::begin(s7) , + boost::begin(s8) ) ) , + thrust::make_zip_iterator( thrust::make_tuple( boost::end(s1) , + boost::end(s2) , + boost::end(s3) , + boost::end(s4) , + boost::end(s5) , + boost::end(s6) , + boost::end(s7) , + boost::end(s8) ) ) , + op); + } + + + template< class Value , class S , class Red > + Value reduce( const S &s , Red red , Value init) + { + return thrust::reduce( boost::begin( s ) , boost::end( s ) , init , red ); + } + + + + +}; + + +} // odeint +} // numeric +} // boost + + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_ALGEBRA_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp new file mode 100755 index 0000000..710657a --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp @@ -0,0 +1,252 @@ +/* + [auto_generated] + boost/numeric/odeint/external/thrust/thrust_operations.hpp + + [begin_description] + Operations of thrust zipped iterators. Is the counterpart of the thrust_algebra. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED + +namespace boost { +namespace numeric { +namespace odeint { + +#include +#include + +/**ToDo extend to scale_sum13 for rk78 */ + +struct thrust_operations +{ + template< class Fac1 = double , class Fac2 = Fac1 > + struct scale_sum2 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + + scale_sum2( const Fac1 alpha1 , const Fac2 alpha2 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + m_alpha2 * thrust::get<2>(t); + } + }; + + template< class Fac1 = double , class Fac2 = Fac1 > + struct scale_sum_swap2 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + + scale_sum_swap2( const Fac1 alpha1 , const Fac2 alpha2 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) { } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + typename thrust::tuple_element<0,Tuple>::type tmp = thrust::get<0>(t); + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + m_alpha2 * thrust::get<2>(t); + thrust::get<1>(t) = tmp; + } + }; + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 > + struct scale_sum3 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + + scale_sum3( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) { } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + + m_alpha2 * thrust::get<2>(t) + + m_alpha3 * thrust::get<3>(t); + } + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 > + struct scale_sum4 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + + scale_sum4( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , const Fac4 alpha4 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ){ } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + + m_alpha2 * thrust::get<2>(t) + + m_alpha3 * thrust::get<3>(t) + + m_alpha4 * thrust::get<4>(t); + } + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , + class Fac4 = Fac3 , class Fac5 = Fac4 > + struct scale_sum5 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + + scale_sum5( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , + const Fac4 alpha4 , const Fac5 alpha5 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , + m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + + m_alpha2 * thrust::get<2>(t) + + m_alpha3 * thrust::get<3>(t) + + m_alpha4 * thrust::get<4>(t) + + m_alpha5 * thrust::get<5>(t); + } + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , + class Fac4 = Fac3 , class Fac5 = Fac4 , class Fac6 = Fac5 > + struct scale_sum6 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + + scale_sum6( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , + const Fac4 alpha4 , const Fac5 alpha5 , const Fac6 alpha6 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , + m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) { } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + + m_alpha2 * thrust::get<2>(t) + + m_alpha3 * thrust::get<3>(t) + + m_alpha4 * thrust::get<4>(t) + + m_alpha5 * thrust::get<5>(t) + + m_alpha6 * thrust::get<6>(t); + } + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , + class Fac5 = Fac4 , class Fac6 = Fac5 , class Fac7 = Fac6 > + struct scale_sum7 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + const Fac6 m_alpha6; + const Fac7 m_alpha7; + + scale_sum7( const Fac1 alpha1 , const Fac2 alpha2 , const Fac3 alpha3 , + const Fac4 alpha4 , const Fac5 alpha5 , const Fac6 alpha6 , const Fac7 alpha7 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , + m_alpha4( alpha4 ) , m_alpha5( alpha5 ) , m_alpha6( alpha6 ) , m_alpha7( alpha7 ) { } + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + thrust::get<0>(t) = m_alpha1 * thrust::get<1>(t) + + m_alpha2 * thrust::get<2>(t) + + m_alpha3 * thrust::get<3>(t) + + m_alpha4 * thrust::get<4>(t) + + m_alpha5 * thrust::get<5>(t) + + m_alpha6 * thrust::get<6>(t) + + m_alpha7 * thrust::get<7>(t) ; + } + }; + + + + + template< class Fac1 = double > + struct rel_error + { + const Fac1 m_eps_abs , m_eps_rel , m_a_x , m_a_dxdt; + + rel_error( const Fac1 eps_abs , const Fac1 eps_rel , const Fac1 a_x , const Fac1 a_dxdt ) + : m_eps_abs( eps_abs ) , m_eps_rel( eps_rel ) , m_a_x( a_x ) , m_a_dxdt( a_dxdt ) { } + + + template< class Tuple > + __host__ __device__ + void operator()( Tuple t ) const + { + using std::abs; + thrust::get< 0 >( t ) = abs( thrust::get< 0 >( t ) ) / + ( m_eps_abs + m_eps_rel * ( m_a_x * abs( thrust::get< 1 >( t ) + m_a_dxdt * abs( thrust::get< 2 >( t ) ) ) ) ); + } + + typedef void result_type; + }; + + + /* + * for usage in reduce + */ + + template< class Value > + struct maximum + { + template< class Fac1 , class Fac2 > + __host__ __device__ + Value operator()( const Fac1 t1 , const Fac2 t2 ) const + { + using std::max; + return ( abs( t1 ) < abs( t2 ) ) ? t2 : t1 ; + } + + typedef Value result_type; + }; + + +}; + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_OPERATIONS_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp new file mode 100755 index 0000000..843a100 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp @@ -0,0 +1,119 @@ +/* + [auto_generated] + boost/numeric/odeint/external/thrust/thrust_resize.hpp + + [begin_description] + Enable resizing for thrusts device and host_vector. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED + + +#include +#include + +#include + +namespace boost { +namespace numeric { +namespace odeint { + +template< class T > +struct is_resizeable< thrust::device_vector< T > > +{ + struct type : public boost::true_type { }; + const static bool value = type::value; +}; + +template< class T > +struct same_size_impl< thrust::device_vector< T > , thrust::device_vector< T > > +{ + static bool same_size( const thrust::device_vector< T > &x , const thrust::device_vector< T > &y ) + { + return x.size() == y.size(); + } +}; + +template< class T > +struct resize_impl< thrust::device_vector< T > , thrust::device_vector< T > > +{ + static void resize( thrust::device_vector< T > &x , const thrust::device_vector< T > &y ) + { + x.resize( y.size() ); + } +}; + + +template< class T > +struct is_resizeable< thrust::host_vector< T > > +{ + struct type : public boost::true_type { }; + const static bool value = type::value; +}; + +template< class T > +struct same_size_impl< thrust::host_vector< T > , thrust::host_vector< T > > +{ + static bool same_size( const thrust::host_vector< T > &x , const thrust::host_vector< T > &y ) + { + return x.size() == y.size(); + } +}; + +template< class T > +struct resize_impl< thrust::host_vector< T > , thrust::host_vector< T > > +{ + static void resize( thrust::host_vector< T > &x , const thrust::host_vector< T > &y ) + { + x.resize( y.size() ); + } +}; + + + +template< class Container1, class Value > +struct copy_impl< Container1 , thrust::device_vector< Value > > +{ + static void copy( const Container1 &from , thrust::device_vector< Value > &to ) + { + thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) ); + } +}; + +template< class Value , class Container2 > +struct copy_impl< thrust::device_vector< Value > , Container2 > +{ + static void copy( const thrust::device_vector< Value > &from , Container2 &to ) + { + thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) ); + } +}; + +template< class Value > +struct copy_impl< thrust::device_vector< Value > , thrust::device_vector< Value > > +{ + static void copy( const thrust::device_vector< Value > &from , thrust::device_vector< Value > &to ) + { + thrust::copy( boost::begin( from ) , boost::end( from ) , boost::begin( to ) ); + } +}; + + + + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_THRUST_THRUST_RESIZE_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp new file mode 100755 index 0000000..e9cbea3 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp @@ -0,0 +1,92 @@ +/* + [auto_generated] + boost/numeric/odeint/external/vexcl/vexcl_resize.hpp + + [begin_description] + Enable resizing for vexcl vector and multivector. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED + +#include + +#include +#include +#include + +namespace boost { +namespace numeric { +namespace odeint { + + + +/* + * specializations for vex::vector< T > + */ +template< typename T > +struct is_resizeable< vex::vector< T > > : boost::true_type { }; + +template< typename T > +struct resize_impl< vex::vector< T > , vex::vector< T > > +{ + static void resize( vex::vector< T > &x1 , const vex::vector< T > &x2 ) + { + x1.resize( x2.queue_list() , x2.size() ); + } +}; + +template< typename T > +struct same_size_impl< vex::vector< T > , vex::vector< T > > +{ + static bool same_size( const vex::vector< T > &x1 , const vex::vector< T > &x2 ) + { + return x1.size() == x2.size(); + } +}; + + + + + +/* + * specializations for vex::multivector< T > + */ +template< typename T , size_t N, bool own > +struct is_resizeable< vex::multivector< T , N , own > > : boost::true_type { }; + +template< typename T , size_t N, bool own > +struct resize_impl< vex::multivector< T , N , own > , vex::multivector< T , N , own > > +{ + static void resize( vex::multivector< T , N , own > &x1 , const vex::multivector< T , N , own > &x2 ) + { + x1.resize( x2.queue_list() , x2.size() ); + } +}; + +template< typename T , size_t N, bool own > +struct same_size_impl< vex::multivector< T , N , own > , vex::multivector< T , N , own > > +{ + static bool same_size( const vex::multivector< T , N , own > &x1 , const vex::multivector< T , N , own > &x2 ) + { + return x1.size() == x2.size(); + } +}; + + +} // namespace odeint +} // namespace numeric +} // namespace boost + + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VEXCL_VEXCL_RESIZE_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp new file mode 100755 index 0000000..d621b35 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp @@ -0,0 +1,245 @@ +/* + [auto_generated] + boost/numeric/odeint/external/viennacl_operations.hpp + + [begin_description] + ViennaCL operations. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED + +#include +#include + +namespace boost { +namespace numeric { +namespace odeint { + + + +struct viennacl_operations +{ + + template< class Fac1 = double , class Fac2 = Fac1 > + struct scale_sum2 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + + scale_sum2( Fac1 alpha1 , Fac2 alpha2 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) + { } + + template< class T1 , class T2 , class T3 > + void operator()( viennacl::vector &v1 , + const viennacl::vector &v2 , + const viennacl::vector &v3 + ) const + { + using namespace viennacl; + + static generator::symbolic_vector <0, T1> sym_v1; + static generator::symbolic_vector <1, T2> sym_v2; + static generator::symbolic_vector <2, T3> sym_v3; + static generator::cpu_symbolic_scalar<3, Fac1> sym_a1; + static generator::cpu_symbolic_scalar<4, Fac2> sym_a2; + + static generator::custom_operation op( + sym_v1 = sym_a1 * sym_v2 + + sym_a2 * sym_v3 + ); + + ocl::enqueue( op(v1, + const_cast< viennacl::vector& >(v2), + const_cast< viennacl::vector& >(v3), + const_cast< Fac1& >(m_alpha1), + const_cast< Fac2& >(m_alpha2) + ) ); + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 > + struct scale_sum3 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + + scale_sum3( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) + { } + + template< class T1 , class T2 , class T3 , class T4 > + void operator()( viennacl::vector &v1 , + const viennacl::vector &v2 , + const viennacl::vector &v3 , + const viennacl::vector &v4 + ) const + { + using namespace viennacl; + + static generator::symbolic_vector <0, T1> sym_v1; + static generator::symbolic_vector <1, T2> sym_v2; + static generator::symbolic_vector <2, T3> sym_v3; + static generator::symbolic_vector <3, T4> sym_v4; + static generator::cpu_symbolic_scalar<4, Fac1> sym_a1; + static generator::cpu_symbolic_scalar<5, Fac2> sym_a2; + static generator::cpu_symbolic_scalar<6, Fac3> sym_a3; + + static generator::custom_operation op( + sym_v1 = sym_a1 * sym_v2 + + sym_a2 * sym_v3 + + sym_a3 * sym_v4 + ); + + ocl::enqueue( op(v1, + const_cast< viennacl::vector& >(v2), + const_cast< viennacl::vector& >(v3), + const_cast< viennacl::vector& >(v4), + const_cast< Fac1& >(m_alpha1), + const_cast< Fac2& >(m_alpha2), + const_cast< Fac3& >(m_alpha3) + ) ); + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 > + struct scale_sum4 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + + scale_sum4( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 > + void operator()( viennacl::vector &v1 , + const viennacl::vector &v2 , + const viennacl::vector &v3 , + const viennacl::vector &v4 , + const viennacl::vector &v5 + ) const + { + using namespace viennacl; + + static generator::symbolic_vector <0, T1> sym_v1; + static generator::symbolic_vector <1, T2> sym_v2; + static generator::symbolic_vector <2, T3> sym_v3; + static generator::symbolic_vector <3, T4> sym_v4; + static generator::symbolic_vector <4, T5> sym_v5; + static generator::cpu_symbolic_scalar<5, Fac1> sym_a1; + static generator::cpu_symbolic_scalar<6, Fac2> sym_a2; + static generator::cpu_symbolic_scalar<7, Fac3> sym_a3; + static generator::cpu_symbolic_scalar<8, Fac4> sym_a4; + + static generator::custom_operation op( + sym_v1 = sym_a1 * sym_v2 + + sym_a2 * sym_v3 + + sym_a3 * sym_v4 + + sym_a4 * sym_v5 + ); + + ocl::enqueue( op(v1, + const_cast< viennacl::vector& >(v2), + const_cast< viennacl::vector& >(v3), + const_cast< viennacl::vector& >(v4), + const_cast< viennacl::vector& >(v5), + const_cast< Fac1& >(m_alpha1), + const_cast< Fac2& >(m_alpha2), + const_cast< Fac3& >(m_alpha3), + const_cast< Fac4& >(m_alpha4) + ) ); + } + + typedef void result_type; + }; + + + template< class Fac1 = double , class Fac2 = Fac1 , class Fac3 = Fac2 , class Fac4 = Fac3 , class Fac5 = Fac4 > + struct scale_sum5 + { + const Fac1 m_alpha1; + const Fac2 m_alpha2; + const Fac3 m_alpha3; + const Fac4 m_alpha4; + const Fac5 m_alpha5; + + scale_sum5( Fac1 alpha1 , Fac2 alpha2 , Fac3 alpha3 , Fac4 alpha4 , Fac5 alpha5 ) + : m_alpha1( alpha1 ) , m_alpha2( alpha2 ) , m_alpha3( alpha3 ) , m_alpha4( alpha4 ) , m_alpha5( alpha5 ) { } + + template< class T1 , class T2 , class T3 , class T4 , class T5 , class T6 > + void operator()( viennacl::vector &v1 , + const viennacl::vector &v2 , + const viennacl::vector &v3 , + const viennacl::vector &v4 , + const viennacl::vector &v5 , + const viennacl::vector &v6 + ) const + { + using namespace viennacl; + + static generator::symbolic_vector < 0, T1> sym_v1; + static generator::symbolic_vector < 1, T2> sym_v2; + static generator::symbolic_vector < 2, T3> sym_v3; + static generator::symbolic_vector < 3, T4> sym_v4; + static generator::symbolic_vector < 4, T5> sym_v5; + static generator::symbolic_vector < 5, T6> sym_v6; + static generator::cpu_symbolic_scalar< 6, Fac1> sym_a1; + static generator::cpu_symbolic_scalar< 7, Fac2> sym_a2; + static generator::cpu_symbolic_scalar< 8, Fac3> sym_a3; + static generator::cpu_symbolic_scalar< 9, Fac4> sym_a4; + static generator::cpu_symbolic_scalar<10, Fac5> sym_a5; + + static generator::custom_operation op( + sym_v1 = sym_a1 * sym_v2 + + sym_a2 * sym_v3 + + sym_a3 * sym_v4 + + sym_a4 * sym_v5 + + sym_a5 * sym_v6 + ); + + ocl::enqueue( op(v1, + const_cast< viennacl::vector& >(v2), + const_cast< viennacl::vector& >(v3), + const_cast< viennacl::vector& >(v4), + const_cast< viennacl::vector& >(v5), + const_cast< viennacl::vector& >(v6), + const_cast< Fac1& >(m_alpha1), + const_cast< Fac2& >(m_alpha2), + const_cast< Fac3& >(m_alpha3), + const_cast< Fac4& >(m_alpha4), + const_cast< Fac5& >(m_alpha5) + ) ); + } + + typedef void result_type; + }; + + +}; + + +} // odeint +} // numeric +} // boost + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_OPERATIONS_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp new file mode 100755 index 0000000..677cfce --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp @@ -0,0 +1,65 @@ +/* + [auto_generated] + boost/numeric/odeint/external/viennacl/viennacl_resize.hpp + + [begin_description] + Enable resizing for viennacl vector. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED + +#include + +#include +#include +#include + +namespace boost { +namespace numeric { +namespace odeint { + + + +/* + * specializations for viennacl::vector< T > + */ +template< typename T > +struct is_resizeable< viennacl::vector< T > > : boost::true_type { }; + +template< typename T > +struct resize_impl< viennacl::vector< T > , viennacl::vector< T > > +{ + static void resize( viennacl::vector< T > &x1 , const viennacl::vector< T > &x2 ) + { + x1.resize( x2.size() , false ); + } +}; + +template< typename T > +struct same_size_impl< viennacl::vector< T > , viennacl::vector< T > > +{ + static bool same_size( const viennacl::vector< T > &x1 , const viennacl::vector< T > &x2 ) + { + return x1.size() == x2.size(); + } +}; + + + +} // namespace odeint +} // namespace numeric +} // namespace boost + + + +#endif // BOOST_NUMERIC_ODEINT_EXTERNAL_VIENNACL_VIENNACL_RESIZE_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp new file mode 100755 index 0000000..071159f --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp @@ -0,0 +1,154 @@ +/* + [auto_generated] + boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp + + [begin_description] + Default Integrate adaptive implementation. + [end_description] + + Copyright 2009-2011 Karsten Ahnert + Copyright 2009-2011 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + + +#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED + +#include + +#include +#include +#include +#include +#include +#include + +#include + + +#include + +namespace boost { +namespace numeric { +namespace odeint { +namespace detail { + +// forward declaration +template< class Stepper , class System , class State , class Time , class Observer> +size_t integrate_const( + Stepper stepper , System system , State &start_state , + Time start_time , Time end_time , Time dt , + Observer observer , stepper_tag ); + +/* + * integrate_adaptive for simple stepper is basically an integrate_const + some last step + */ +template< class Stepper , class System , class State , class Time , class Observer > +size_t integrate_adaptive( + Stepper stepper , System system , State &start_state , + Time start_time , Time end_time , Time dt , + Observer observer , stepper_tag +) +{ + size_t steps = detail::integrate_const( stepper , system , start_state , start_time , + end_time , dt , observer , stepper_tag() ); + Time end = start_time + dt*steps; + if( less_with_sign( end , end_time , dt ) ) + { //make a last step to end exactly at end_time + stepper.do_step( system , start_state , end , end_time - end ); + steps++; + typename odeint::unwrap_reference< Observer >::type &obs = observer; + obs( start_state , end_time ); + } + return steps; +} + + +/* + * classical integrate adaptive + */ +template< class Stepper , class System , class State , class Time , class Observer > +size_t integrate_adaptive( + Stepper stepper , System system , State &start_state , + Time &start_time , Time end_time , Time &dt , + Observer observer , controlled_stepper_tag +) +{ + typename odeint::unwrap_reference< Observer >::type &obs = observer; + + const size_t max_attempts = 1000; + const char *error_string = "Integrate adaptive : Maximal number of iterations reached. A step size could not be found."; + size_t count = 0; + while( less_with_sign( start_time , end_time , dt ) ) + { + obs( start_state , start_time ); + if( less_with_sign( end_time , start_time + dt , dt ) ) + { + dt = end_time - start_time; + } + + size_t trials = 0; + controlled_step_result res = success; + do + { + res = stepper.try_step( system , start_state , start_time , dt ); + ++trials; + } + while( ( res == fail ) && ( trials < max_attempts ) ); + if( trials == max_attempts ) throw std::overflow_error( error_string ); + + ++count; + } + obs( start_state , start_time ); + return count; +} + + +/* + * integrate adaptive for dense output steppers + * + * step size control is used if the stepper supports it + */ +template< class Stepper , class System , class State , class Time , class Observer > +size_t integrate_adaptive( + Stepper stepper , System system , State &start_state , + Time start_time , Time end_time , Time dt , + Observer observer , dense_output_stepper_tag ) +{ + typename odeint::unwrap_reference< Observer >::type &obs = observer; + + size_t count = 0; + stepper.initialize( start_state , start_time , dt ); + + while( less_with_sign( stepper.current_time() , end_time , stepper.current_time_step() ) ) + { + while( less_eq_with_sign( stepper.current_time() + stepper.current_time_step() , + end_time , + stepper.current_time_step() ) ) + { //make sure we don't go beyond the end_time + obs( stepper.current_state() , stepper.current_time() ); + stepper.do_step( system ); + ++count; + } + stepper.initialize( stepper.current_state() , stepper.current_time() , end_time - stepper.current_time() ); + } + obs( stepper.current_state() , stepper.current_time() ); + // overwrite start_state with the final point + boost::numeric::odeint::copy( stepper.current_state() , start_state ); + return count; +} + + + + +} // namespace detail +} // namespace odeint +} // namespace numeric +} // namespace boost + + +#endif // BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_ADAPTIVE_HPP_INCLUDED diff --git a/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp new file mode 100755 index 0000000..2eb7ae0 --- /dev/null +++ b/Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp @@ -0,0 +1,159 @@ +/* + [auto_generated] + boost/numeric/odeint/integrate/detail/integrate_const.hpp + + [begin_description] + integrate const implementation + [end_description] + + Copyright 2009-2012 Karsten Ahnert + Copyright 2009-2012 Mario Mulansky + + Distributed under the Boost Software License, Version 1.0. + (See accompanying file LICENSE_1_0.txt or + copy at http://www.boost.org/LICENSE_1_0.txt) + */ + +#ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_CONST_HPP_INCLUDED +#define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_INTEGRATE_CONST_HPP_INCLUDED + +#include +#include +#include +#include + +#include + +namespace boost { +namespace numeric { +namespace odeint { +namespace detail { + +// forward declaration +template< class Stepper , class System , class State , class Time , class Observer > +size_t integrate_adaptive( + Stepper stepper , System system , State &start_state , + Time &start_time , Time end_time , Time &dt , + Observer observer , controlled_stepper_tag +); + + +template< class Stepper , class System , class State , class Time , class Observer > +size_t integrate_const( + Stepper stepper , System system , State &start_state , + Time start_time , Time end_time , Time dt , + Observer observer , stepper_tag +) +{ + typename odeint::unwrap_reference< Observer >::type &obs = observer; + + Time time = start_time; + int step = 0; + + while( less_eq_with_sign( time+dt , end_time , dt ) ) + { + obs( start_state , time ); + stepper.do_step( system , start_state , time , dt ); + // direct computation of the time avoids error propagation happening when using time += dt + // we need clumsy type analysis to get boost units working here + ++step; + time = start_time + static_cast< typename unit_value_type