integrator-rk2.hpp

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#pragma once
 
#include "aligator/modelling/dynamics/integrator-explicit.hpp"
 
namespace aligator {
namespace dynamics {
template <typename Scalar> struct IntegratorRK2DataTpl;

template <typename _Scalar>
struct IntegratorRK2Tpl : ExplicitIntegratorAbstractTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ExplicitIntegratorAbstractTpl<Scalar>;
  using BaseData = ExplicitDynamicsDataTpl<Scalar>;
  using Data = IntegratorRK2DataTpl<Scalar>;
  using ODEType = typename Base::ODEType;
 
  Scalar timestep_;
 
  IntegratorRK2Tpl(const xyz::polymorphic<ODEType> &cont_dynamics,
                   const Scalar timestep);
  void forward(const ConstVectorRef &x, const ConstVectorRef &u,
               BaseData &data) const;
  void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                BaseData &data) const;
 
  shared_ptr<BaseData> createData() const {
    return std::make_shared<Data>(*this);
  }
};
 
template <typename Scalar>
struct IntegratorRK2DataTpl : ExplicitIntegratorDataTpl<Scalar> {
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
  using Base = ExplicitIntegratorDataTpl<Scalar>;
  using ODEData = ContinuousDynamicsDataTpl<Scalar>;
  shared_ptr<ODEData> continuous_data2;
 
  VectorXs x1_;
  VectorXs dx1_;
 
  explicit IntegratorRK2DataTpl(const IntegratorRK2Tpl<Scalar> &integrator)
      : Base(integrator)
      , x1_(integrator.space_next().neutral())
      , dx1_(this->ndx1) {
    continuous_data2 = integrator.ode_->createData();
    dx1_.setZero();
  }
 
  using Base::dx_;
  using Base::Jtmp_xnext;
  using Base::Ju;
  using Base::Jx;
  using Base::xnext_;
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct IntegratorRK2Tpl<context::Scalar>;
extern template struct IntegratorRK2DataTpl<context::Scalar>;
#endif
} // namespace dynamics
} // namespace aligator