icarus::staging::SymbolicStager Class Reference

Symbolic graph generator. More...

#include <SymbolicStager.hpp>

Public Types
using	Scalar = janus::SymbolicScalar

Public Member Functions
	SymbolicStager (SymbolicSimulatorCore &sym_sim)
	Construct stager with symbolic simulator.
SymbolicDynamics	GenerateDynamics (const SymbolicStagerConfig &config={})
	Generate symbolic dynamics representation.
janus::Function	GenerateStepFunction (double dt)
	Generate discrete-time step function.
std::vector< std::string >	GetStateNames () const
	Get state variable names in order.
std::size_t	GetStateSize () const
	Get total state size.

Detailed Description

Symbolic graph generator.

Creates janus::Function objects representing the simulation dynamics. These can be used for:

• Numerical evaluation
• Automatic differentiation (Jacobian, Hessian)
• NLP formulation for trajectory optimization
• Code generation

Member Typedef Documentation

Scalar

using icarus::staging::SymbolicStager::Scalar = janus::SymbolicScalar

Constructor & Destructor Documentation

SymbolicStager()

icarus::staging::SymbolicStager::SymbolicStager ( SymbolicSimulatorCore & sym_sim )

inlineexplicit

Construct stager with symbolic simulator.

Parameters

sym_sim

Reference to initialized SymbolicSimulatorCore

Member Function Documentation

GenerateDynamics()

SymbolicDynamics icarus::staging::SymbolicStager::GenerateDynamics ( const SymbolicStagerConfig & config = {} )

inline

Generate symbolic dynamics representation.

Creates dynamics function f(t, x) -> xdot and optionally computes Jacobians.

Parameters

config

Stager configuration

Returns

SymbolicDynamics containing functions and metadata

GenerateStepFunction()

janus::Function icarus::staging::SymbolicStager::GenerateStepFunction ( double dt )

inline

Generate discrete-time step function.

Creates function step(t, x) -> x_next using RK4 integration.

Parameters

dt

Step size

Returns

janus::Function representing one integration step

GetStateNames()

std::vector< std::string > icarus::staging::SymbolicStager::GetStateNames ( ) const

inlinenodiscard

Get state variable names in order.

GetStateSize()

std::size_t icarus::staging::SymbolicStager::GetStateSize ( ) const

inlinenodiscard

Get total state size.

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

• include/icarus/staging/SymbolicStager.hpp