23template <
typename _Scalar>
43 const xyz::polymorphic<ContinuousDynamics> &cont_dynamics);
49template <
typename _Scalar>
53 using VectorXs =
typename math_types<Scalar>::VectorXs;
77#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
78#include "aligator/modelling/dynamics/integrator-abstract.txx"
Base definitions for continuous dynamics.
Namespace for modelling system dynamics.
DynamicsDataTpl(const DynamicsModelTpl< Scalar > &model)
DynamicsModelTpl(xyz::polymorphic< Manifold > space, const int nu)
Constructor for dynamics.
Continuous dynamics described by differential-algebraic equations (DAEs) .
Base class for (implicit) numerical integrators.
ContinuousDynamicsAbstractTpl< Scalar > ContinuousDynamics
DynamicsDataTpl< Scalar > BaseData
xyz::polymorphic< ContinuousDynamics > continuous_dynamics_
const U * getDynamics() const
DynamicsModelTpl< Scalar > Base
shared_ptr< BaseData > createData() const
virtual ~IntegratorAbstractTpl()=default
IntegratorAbstractTpl(const xyz::polymorphic< ContinuousDynamics > &cont_dynamics)
Constructor from instances of DynamicsType.
typename math_types< Scalar >::VectorXs VectorXs
shared_ptr< ContinuousDynamicsDataTpl< Scalar > > continuous_data
IntegratorDataTpl(const IntegratorAbstractTpl< Scalar > &integrator)
virtual ~IntegratorDataTpl()=default
DynamicsDataTpl< Scalar > Base