.. _program_listing_file_dynamics_dynamics_params.cc:

Program Listing for File dynamics_params.cc
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_dynamics_dynamics_params.cc>` (``dynamics/dynamics_params.cc``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // /**
   //  * @file dynamics_params.cc
   //  * @author your name (you@domain.com)
   //  * @brief
   //  * @version 0.1
   //  * @date 2024-12-28
   //  *
   //  * @copyright Copyright (c) 2024
   //  *
   //  */
   
   // #include "lupnt/dynamics/dynamics_params.h"
   
   // namespace lupnt {
   
   //   const std::map<ParamsEstOption, std::string> params_est_option2string
   //       = {{ParamsEstOption::TrueFixed, "TrueFixed"},
   //          {ParamsEstOption::Estimated, "Estimated"},
   //          {ParamsEstOption::Consider, "Consider"}};
   
   //   const std::map<std::string, ParamsEstOption> string2params_est_option
   //       = {{"TrueFixed", ParamsEstOption::TrueFixed},
   //          {"Estimated", ParamsEstOption::Estimated},
   //          {"Consider", ParamsEstOption::Consider}};
   
   //   /**
   //    * @brief
   //    *
   //    * @param x0  state + parameters (est or consider)
   //    * @param t0  initial time
   //    * @param tf  final time
   //    * @param stm  state transition matrix
   //    * @return VecX
   //    */
   //   VecX DynamicsWithParams::Propagate(const VecX& x0, Real t0, Real tf, MatXd* stm) {
   //     // state size
   //     int n = x0.size();
   //     int n_param_est = GetEstParamSize();
   //     int n_param_consider = GetConsiderParamSize();
   //     int n_param = n_param_est + n_param_consider;
   //     int state_size = n - n_param;
   
   //     // To compute the jacobians, x_with_params need to capture all estimated and considered
   //     // parameters
   //     auto func = [=, this](const VecX& x_with_est_params) {
   //       VecX x = x_with_est_params.head(state_size);
   
   //       if (use_params_) {
   //         // extract the parameters from x_with_est_params
   //         dynamics_->SetParams(params_.GetDynamicsParam());
   //       }
   //       VecX xf = dynamics_->Propagate(x, t0, tf, nullptr);  // Do not compute stm here
   
   //       if (use_params_) {
   //         DynamicsParam new_params
   //             = dynamics_->GetParams();   // Get the updated parameters (often its constant)
   //         UpdateParamValues(new_params);  // Update the parameters in the class
   //         VecX new_params_vec
   //             = GetEstConsiderParamVector(new_params);  // Get the updated parameters in vector
   //             form
   //         xf.conservativeResize(
   //             n + new_params_vec.size());  // Resize the state vector to include the parameters
   //         xf.tail(new_params_vec.size()) = new_params_vec;
   //       }
   //       return xf;
   //     };
   
   //     VecX x0_tmp = x0.cast<double>();
   //     VecX xf;
   //     if (stm != nullptr) {
   //       *stm = jacobian(func, wrt(x0_tmp), at(x0_tmp), xf);
   //     } else {
   //       xf = func(x0_tmp);
   //     }
   
   //     return xf;
   //   };
   
   // }  // namespace lupnt