integrator-abstract.hpp

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#pragma once
 
#include "aligator/modelling/dynamics/continuous-dynamics-abstract.hpp"
#include "aligator/core/dynamics.hpp"
 
namespace aligator {
namespace dynamics {
 
template <typename _Scalar>
struct IntegratorAbstractTpl : DynamicsModelTpl<_Scalar> {
public:
  using Scalar = _Scalar;
  using Base = DynamicsModelTpl<Scalar>;
  using BaseData = DynamicsDataTpl<Scalar>;
  using ContinuousDynamics = ContinuousDynamicsAbstractTpl<Scalar>;
 
  xyz::polymorphic<ContinuousDynamics> continuous_dynamics_;
 
  template <typename U> U *getDynamics() {
    return dynamic_cast<U *>(&*continuous_dynamics_);
  }
  template <typename U> const U *getDynamics() const {
    return dynamic_cast<const U *>(&*continuous_dynamics_);
  }
 
  explicit IntegratorAbstractTpl(
      const xyz::polymorphic<ContinuousDynamics> &cont_dynamics);
  virtual ~IntegratorAbstractTpl() = default;
  shared_ptr<BaseData> createData() const;
};
 
template <typename _Scalar>
struct IntegratorDataTpl : DynamicsDataTpl<_Scalar> {
  using Scalar = _Scalar;
  using Base = DynamicsDataTpl<Scalar>;
  using VectorXs = typename math_types<Scalar>::VectorXs;
  shared_ptr<ContinuousDynamicsDataTpl<Scalar>> continuous_data;
 
  using Base::Huu_;
  using Base::Huy_;
  using Base::Hxu_;
  using Base::Hxx_;
  using Base::Hxy_;
  using Base::Hyy_;
  using Base::Ju_;
  using Base::Jx_;
  using Base::Jy_;
  using Base::value_;
 
  VectorXs xdot_;
 
  explicit IntegratorDataTpl(const IntegratorAbstractTpl<Scalar> &integrator);
  virtual ~IntegratorDataTpl() = default;
};
 
} // namespace dynamics
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/modelling/dynamics/integrator-abstract.txx"
#endif