aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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expose-utils.cpp
Go to the documentation of this file.
1
5
6namespace aligator {
7namespace python {
8void exposeUtils() {
9 using DynamicsType = DynamicsModelTpl<context::Scalar>;
11
12 using rollout_generic_t = context::VectorOfVectors (*)(
13 const DynamicsType &, const context::VectorXs &,
14 const context::VectorOfVectors &);
15
16 using rollout_vec_generic_t = context::VectorOfVectors (*)(
17 const std::vector<xyz::polymorphic<DynamicsType>> &,
18 const context::VectorXs &, const context::VectorOfVectors &);
19
20 using rollout_explicit_t = context::VectorOfVectors (*)(
21 const ExplicitDynamics &, const context::VectorXs &,
22 const context::VectorOfVectors &);
23
24 using rollout_vec_explicit_t = context::VectorOfVectors (*)(
25 const std::vector<xyz::polymorphic<ExplicitDynamics>> &,
26 const context::VectorXs &, const context::VectorOfVectors &);
27
28 bp::def<rollout_generic_t>(
29 "rollout_implicit", &aligator::rollout, ("dyn_model"_a, "x0", "us"),
30 "Perform a dynamics rollout, for a dynamics model.");
31
32 bp::def<rollout_explicit_t>(
33 "rollout", &aligator::rollout, ("dyn_model"_a, "x0", "us"),
34 "Perform a rollout of a single explicit dynamics model.");
35
36 bp::def<rollout_vec_generic_t>(
37 "rollout_implicit", &aligator::rollout, ("dyn_models"_a, "x0", "us"),
38 "Perform a dynamics rollout, for multiple discrete dynamics models.");
39
40 bp::def<rollout_vec_explicit_t>(
41 "rollout", &aligator::rollout, ("dyn_models"_a, "x0", "us"),
42 "Perform a rollout of multiple different dynamics models.");
43}
44
45} // namespace python
46} // namespace aligator
ExplicitDynamicsModelTpl< Scalar > ExplicitDynamics
Definition context.hpp:39
The Python bindings.
Definition blk-matrix.hpp:5
void exposeUtils()
Expose utils.
Main package namespace.
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.
Definition rollout.hpp:11
Dynamics model: describes system dynamics through an implicit relation .
Definition dynamics.hpp:14
Explicit forward dynamics model .