13template <
typename _Scalar>
27 void forward(
const ConstVectorRef &x,
const ConstVectorRef &u,
30 void dForward(
const ConstVectorRef &x,
const ConstVectorRef &u,
34#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
Base definitions for explicit integrators.
Namespace for modelling system dynamics.
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
ExplicitIntegratorAbstractTpl(const xyz::polymorphic< ODEType > &cont_dynamics)
Explicit Euler integrator .
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void forward(const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
IntegratorEulerTpl(const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
Scalar timestep_
Integration time step .
ExplicitIntegratorAbstractTpl< Scalar > Base
ODEAbstractTpl< Scalar > ODEType
ExplicitIntegratorDataTpl< Scalar > Data
void dForward(const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
Base class for ODE dynamics .