13template <
typename _Scalar>
17 using Base = ExplicitIntegratorAbstractTpl<Scalar>;
18 using Data = ExplicitIntegratorDataTpl<Scalar>;
27 void forward(
const ConstVectorRef &x,
const ConstVectorRef &u,
28 ExplicitDynamicsDataTpl<Scalar> &data)
const;
30 void dForward(
const ConstVectorRef &x,
const ConstVectorRef &u,
31 ExplicitDynamicsDataTpl<Scalar> &data)
const;
37#include "aligator/modelling/dynamics/integrator-euler.hxx"
Base definitions for explicit integrators.
Explicit Euler integrator .
IntegratorEulerTpl(const shared_ptr< ODEType > &cont_dynamics, const Scalar timestep)
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void forward(const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
Scalar timestep_
Integration time step .
ExplicitIntegratorAbstractTpl< Scalar > Base
ODEAbstractTpl< Scalar > ODEType
void dForward(const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const