23template <
typename _Scalar>
27 using Base = DynamicsModelTpl<Scalar>;
36 const shared_ptr<ContinuousDynamics> &cont_dynamics);
42template <
typename _Scalar>
45 using Base = DynamicsDataTpl<Scalar>;
46 using VectorXs =
typename math_types<Scalar>::VectorXs;
70#include "aligator/modelling/dynamics/integrator-abstract.hxx"
72#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
73#include "aligator/modelling/dynamics/integrator-abstract.txx"
Base definitions for continuous dynamics.
Dynamics model: describes system dynamics through an implicit relation .
MatrixRef Jx_
Jacobian with respect to .
MatrixRef Ju_
Jacobian with respect to .
MatrixRef Jy_
Jacobian with respect to .
VectorXs value_
Function value.
Base class for (implicit) numerical integrators.
ContinuousDynamicsAbstractTpl< Scalar > ContinuousDynamics
DynamicsDataTpl< Scalar > BaseData
IntegratorAbstractTpl(const shared_ptr< ContinuousDynamics > &cont_dynamics)
Constructor from instances of DynamicsType.
shared_ptr< ContinuousDynamics > continuous_dynamics_
The underlying continuous dynamics.
DynamicsModelTpl< Scalar > Base
shared_ptr< BaseData > createData() const
Instantiate a Data object.
virtual ~IntegratorAbstractTpl()=default
Data class for numerical integrators (IntegratorAbstractTpl).
typename math_types< Scalar >::VectorXs VectorXs
shared_ptr< ContinuousDynamicsDataTpl< Scalar > > continuous_data
IntegratorDataTpl(const IntegratorAbstractTpl< Scalar > *integrator)
VectorXs xdot_
Value of the time-derivative to use in the integration rule.
virtual ~IntegratorDataTpl()=default