Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Class for calculating lyapunov exponents online, over several time horizons, from given Jacobi matrices. More...
#include <lyapunov.h>
Classes | |
struct | SlidingMatrix |
holds a matrix that is the result of a sliding window multiplication More... | |
Public Types | |
typedef HashMap< int, SlidingMatrix * > | Horizons |
Public Member Functions | |
Lyapunov () | |
~Lyapunov () | |
void | init (const std::list< int > &horizons, int dim) |
initializes with a set of horizons. More... | |
void | step (const matrix::Matrix &jacobi) |
provides the current Jacobi matrix. More... | |
const matrix::Matrix & | getLyapunovMatrix (int horizon) |
returns the lyapunov matrix at the given horizon More... | |
const matrix::Matrix & | getLyapunovExp (int horizon) |
returns the lyapunov exponents at the given horizon More... | |
Protected Attributes | |
matrix::Matrix * | buffer |
matrix::Matrix * | invbuffer |
int | buffersize |
long int | t |
Horizons | horizons |
Class for calculating lyapunov exponents online, over several time horizons, from given Jacobi matrices.
typedef HashMap< int, SlidingMatrix* > Horizons |
Lyapunov | ( | ) |
~Lyapunov | ( | ) |
const Matrix & getLyapunovExp | ( | int | horizon | ) |
returns the lyapunov exponents at the given horizon
const Matrix & getLyapunovMatrix | ( | int | horizon | ) |
returns the lyapunov matrix at the given horizon
void init | ( | const std::list< int > & | horizons, |
int | dim | ||
) |
initializes with a set of horizons.
horizons | for each horizon # in steps. 0 means infinite |
dim | # of dimensions (expect a (dim x dim) matrix in step) |
void step | ( | const matrix::Matrix & | jacobi | ) |
provides the current Jacobi matrix.
Internally the sliding windows and the exponents are generated
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