19template <
class Base = context::ExplicitDynamics>
30 void forward(
const ConstVectorRef &x,
const ConstVectorRef &u,
35 void dForward(
const ConstVectorRef &x,
const ConstVectorRef &u,
50namespace boost::python::objects {
53struct value_holder<aligator::python::PyExplicitDynamics<>>
54 : aligator::python::OwningNonOwningHolder<
55 aligator::python::PyExplicitDynamics<>> {
56 using OwningNonOwningHolder::OwningNonOwningHolder;
60struct value_holder<aligator::python::PyExplicitDynamics<
61 aligator::context::ExplicitIntegratorAbstract>>
62 : aligator::python::OwningNonOwningHolder<
63 aligator::python::PyExplicitDynamics<
64 aligator::context::ExplicitIntegratorAbstract>> {
65 using OwningNonOwningHolder::OwningNonOwningHolder;
#define ALIGATOR_PYTHON_OVERRIDE(ret_type, cname, fname,...)
Define the body of a virtual function override. This is meant to reduce boilerplate code when exposin...
#define ALIGATOR_PYTHON_OVERRIDE_PURE(ret_type, pyname,...)
Define the body of a virtual function override. This is meant to reduce boilerplate code when exposin...
Base definitions for explicit integrators.
DynamicsDataTpl< Scalar > DynamicsData
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
virtual shared_ptr< Data > createData() const
context::ExplicitDynamics Base
PolymorphicWrapper()=default
void dForward(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
Compute the Jacobians of the forward dynamics.
void forward(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
Evaluate the forward discrete dynamics.
shared_ptr< Data > default_createData() const
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
ExplicitDynamicsDataTpl< Scalar > Data
shared_ptr< Data > createData() const