integrator-explicit.hpp

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#pragma once
 
#include "aligator/core/explicit-dynamics.hpp"
#include "aligator/modelling/dynamics/ode-abstract.hpp"
 
namespace aligator {
namespace dynamics {

template <typename _Scalar>
struct ExplicitIntegratorAbstractTpl : ExplicitDynamicsModelTpl<_Scalar> {
  using Scalar = _Scalar;
  using ODEType = ODEAbstractTpl<Scalar>;
  using Base = ExplicitDynamicsModelTpl<Scalar>;
  using Data = ExplicitIntegratorDataTpl<Scalar>;
 
  using Base::computeJacobians;
  using Base::evaluate;
  using Base::ndx1;
  using Base::ndx2;
  using Base::nu;
  using Base::space_next_;
  using Manifold = ManifoldAbstractTpl<Scalar>;
 
  xyz::polymorphic<ODEType> ode_;
 
  template <typename U> U *getDynamics() { return dynamic_cast<U *>(&*ode_); }
  template <typename U> const U *getDynamics() const {
    return dynamic_cast<const U *>(&*ode_);
  }
 
  explicit ExplicitIntegratorAbstractTpl(
      const xyz::polymorphic<ODEType> &cont_dynamics);
  virtual ~ExplicitIntegratorAbstractTpl() = default;
 
  shared_ptr<DynamicsDataTpl<Scalar>> createData() const;
};
 
template <typename _Scalar>
struct ExplicitIntegratorDataTpl : ExplicitDynamicsDataTpl<_Scalar> {
  using Scalar = _Scalar;
  using Base = ExplicitDynamicsDataTpl<Scalar>;
  using ODEData = ContinuousDynamicsDataTpl<Scalar>;
  shared_ptr<ODEData> continuous_data;
 
  explicit ExplicitIntegratorDataTpl(
      const ExplicitIntegratorAbstractTpl<Scalar> *integrator);
  virtual ~ExplicitIntegratorDataTpl() = default;
 
  using Base::dx_;
  using Base::xnext_;
};
 
} // namespace dynamics
} // namespace aligator
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
#include "aligator/modelling/dynamics/integrator-explicit.txx"
#endif