integrator-euler.hpp

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#pragma once
 
#include "aligator/modelling/dynamics/integrator-explicit.hpp"
 
namespace aligator {
namespace dynamics {
template <typename _Scalar>
struct IntegratorEulerTpl : ExplicitIntegratorAbstractTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ExplicitIntegratorAbstractTpl<Scalar>;
  using Data = ExplicitIntegratorDataTpl<Scalar>;
  using ODEType = ODEAbstractTpl<Scalar>;
 
  Scalar timestep_;
 
  IntegratorEulerTpl(const xyz::polymorphic<ODEType> &cont_dynamics,
                     const Scalar timestep);
 
  void forward(const ConstVectorRef &x, const ConstVectorRef &u,
               ExplicitDynamicsDataTpl<Scalar> &data) const;
 
  void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                ExplicitDynamicsDataTpl<Scalar> &data) const;
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct IntegratorEulerTpl<context::Scalar>;
#endif
 
} // namespace dynamics
} // namespace aligator