18template <
typename _Scalar>
22 using Base = ExplicitDynamicsModelTpl<Scalar>;
23 using Data = ExplicitIntegratorDataTpl<Scalar>;
36 const shared_ptr<ODEType> &cont_dynamics);
42template <
typename _Scalar>
45 using Base = ExplicitDynamicsDataTpl<Scalar>;
50 const ExplicitIntegratorAbstractTpl<Scalar> *integrator);
60#include "aligator/modelling/dynamics/integrator-explicit.hxx"
62#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
63#include "aligator/modelling/dynamics/integrator-explicit.txx"
Defines a class representing ODEs.
ManifoldPtr space_next_
State space for the output of this dynamics model.
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
VectorXs dx_
Difference vector between current state x and xnext_.
VectorXs xnext_
Model next state.
Explicit forward dynamics model .
void evaluate(const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const
void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const
const int ndx2
Next state dimension.
const int nu
Control dimension.
const int ndx1
Current state dimension.
ExplicitIntegratorAbstractTpl(const shared_ptr< ODEType > &cont_dynamics)
ODEAbstractTpl< Scalar > ODEType
ManifoldAbstractTpl< Scalar > Manifold
shared_ptr< DynamicsDataTpl< Scalar > > createData() const
Instantiate a Data object.
shared_ptr< ODEType > ode_
virtual ~ExplicitIntegratorAbstractTpl()=default
virtual ~ExplicitIntegratorDataTpl()=default
ODEDataTpl< Scalar > ODEData
shared_ptr< ODEData > continuous_data
ExplicitIntegratorDataTpl(const ExplicitIntegratorAbstractTpl< Scalar > *integrator)