12 using rollout_generic_t = context::VectorOfVectors (*)(
13 const DynamicsType &,
const context::VectorXs &,
14 const context::VectorOfVectors &);
16 using rollout_vec_generic_t = context::VectorOfVectors (*)(
17 const std::vector<xyz::polymorphic<DynamicsType>> &,
18 const context::VectorXs &,
const context::VectorOfVectors &);
20 using rollout_explicit_t = context::VectorOfVectors (*)(
22 const context::VectorOfVectors &);
24 using rollout_vec_explicit_t = context::VectorOfVectors (*)(
25 const std::vector<xyz::polymorphic<ExplicitDynamics>> &,
26 const context::VectorXs &,
const context::VectorOfVectors &);
28 bp::def<rollout_generic_t>(
30 "Perform a dynamics rollout, for a dynamics model.");
32 bp::def<rollout_explicit_t>(
34 "Perform a rollout of a single explicit dynamics model.");
36 bp::def<rollout_vec_generic_t>(
38 "Perform a dynamics rollout, for multiple discrete dynamics models.");
40 bp::def<rollout_vec_explicit_t>(
42 "Perform a rollout of multiple different dynamics models.");
ExplicitDynamicsModelTpl< Scalar > ExplicitDynamics
math_types< Scalar >::VectorOfVectors rollout(const std::vector< xyz::polymorphic< DynamicsModelTpl< Scalar > > > &dyn_models, const typename math_types< Scalar >::VectorXs &x0, const typename math_types< Scalar >::VectorOfVectors &us, typename math_types< Scalar >::VectorOfVectors &xout)
Perform a rollout of the supplied dynamical models.