aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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forward-dyn.hpp File Reference
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Classes

struct  aligator::ForwardDynamicsOptions< T >
 

Namespaces

namespace  aligator
 Main package namespace.
 

Functions

template<typename T, template< typename > class M, typename D = typename M<T>::Data>
void aligator::forwardDynamics (const M< T > &model, const typename math_types< T >::ConstVectorRef &x, const typename math_types< T >::ConstVectorRef &u, D &data, const typename math_types< T >::VectorRef xout, const std::optional< typename math_types< T >::ConstVectorRef > &gap=std::nullopt, ForwardDynamicsOptions< T > opts={})
 Evaluates the forward map for a discrete dynamics model, implicit or explicit.
 

Detailed Description

Definition in file forward-dyn.hpp.