Boost OdeInt 在进入集成例程时无法设置类属性

问：

我正在构建一个自定义集成器。 除了计算状态的离散导数外，我还在计算每个积分步骤进入时的输出方程。我知道它效率不高，但到目前为止，我需要它来了解库的工作方式。boost::numeric::odeintoperator ()

在调试时，在方法内部，变量和变量都计算得很好。但是，一旦程序返回主循环，对象和变量就会取消初始化。operator ()ytestsysytest

下面显示了代码和重现所讨论内容的结果。

TestSystem.h

#pragma once

#include <Eigen/Dense>
#include <iostream>

using namespace std;
using namespace Eigen;

const int n = 2; // State size
const int q = 1; // Output size
const int m = 1; // Input size

typedef Vector<double, n> state_type;
typedef Vector<double, m> input_type;
typedef Vector<double, q> output_type;

typedef Matrix<double, n, n> state_matrix_type;
typedef Matrix<double, n, m> input_matrix_type;
typedef Matrix<double, q, n> output_matrix_type;
typedef Matrix<double, q, m> feedthrough_matrix_type;

class TestSystem
{

public:
    state_matrix_type A{ 
        { -4.0, -3.0}, 
        { 1.0, 0.0} 
    };
    input_matrix_type B{ 1.0, 0.0 };
    output_matrix_type C{ 1.0, 1.0 };
    feedthrough_matrix_type D{ 0.0 };

    double test;

    input_type u;
    output_type y;
    void operator() (const state_type& x, state_type& x_dot, const double t);
};

测试系统.cpp

#include "TestSystem.h"

void TestSystem::operator()(const state_type& x, state_type& x_dot, const double t)
{
    x_dot = A * x + B * u;

    this->y = C * x + D * u;

    this->test = (C * x + D * u)(0);

    cout << "Output computed within integration step: " << endl;

}

main.cpp

#include <iostream>
#include <Eigen/Dense>
#include "TestSystem.h"

using namespace Eigen;
using namespace std;
using namespace cnpy;

const double PI = 3.14159265359;

const int N = 5000;

VectorXd u(N);

#include <boost/numeric/odeint/stepper/runge_kutta4.hpp>
#include <boost/numeric/odeint/integrate/integrate_n_steps.hpp>

using namespace boost::numeric::odeint;

int main()
{
    VectorXd t(N);

    t = VectorXd::LinSpaced(N, 0.0, 1.0);

    TestSystem sys;

    u = (2 * PI * 200 * t).array().cos() + (2 * PI * 20 * t).array().sin();

    state_type x = state_type::Zero();
    
    // Just one step for example sake
    for (size_t i = 0; i < 1; i++) {
        input_type _u{ u(i) };
        // _u << u(i);

        sys.u = _u;

        runge_kutta4<state_type> rk;

        rk.do_step(sys, x, t(i), t(1));

        cout << "System object output variable: " << sys.test << endl;
    }
}

结果

Output computed within integration step: 0
Output computed within integration step: 0.00010002
Output computed within integration step: 9.999e-05
Output computed within integration step: 0.00019998
System object output variable: -9.25596e+61