aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
|
#include "aligator/core/explicit-dynamics.hpp"
#include "aligator/utils/newton-raphson.hpp"
#include <optional>
Go to the source code of this file.
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. | |
Definition in file forward-dyn.hpp.