explicit-dynamics.hpp

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#pragma once
 
#include "aligator/python/fwd.hpp"
#include "aligator/core/explicit-dynamics.hpp"
 
namespace aligator {
namespace python {
namespace internal {
 
template <class ExplicitBase = context::ExplicitDynamics>
struct PyExplicitDynamics : ExplicitBase, bp::wrapper<ExplicitBase> {
  using Scalar = context::Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  // All functions in the interface take this type for output
  using Data = ExplicitDynamicsDataTpl<Scalar>;
  using StageFunctionData = StageFunctionDataTpl<Scalar>;
 
  template <typename... Args>
  PyExplicitDynamics(Args &&...args) : ExplicitBase(args...) {}
 
  virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u,
                       Data &data) const {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "forward", x, u, boost::ref(data));
  }
 
  virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                        Data &data) const {
    ALIGATOR_PYTHON_OVERRIDE_PURE(void, "dForward", x, u, boost::ref(data));
  }
 
  shared_ptr<StageFunctionData> createData() const {
    ALIGATOR_PYTHON_OVERRIDE(shared_ptr<StageFunctionData>, ExplicitBase,
                             createData, );
  }
 
  shared_ptr<StageFunctionData> default_createData() const {
    return ExplicitBase::createData();
  }
};
 
} // namespace internal
} // namespace python
} // namespace aligator