forward-dyn.hpp File Reference

#include "aligator/core/explicit-dynamics.hpp"
#include "aligator/utils/newton-raphson.hpp"
#include <optional>

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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

Copyright

Copyright (C) 2022-2024 LAAS-CNRS, 2022-2025 INRIA

Definition in file forward-dyn.hpp.