aligator  0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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integrator-semi-euler.hpp
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1#pragma once
6
8
9namespace aligator {
10namespace dynamics {
11template <typename Scalar> struct IntegratorSemiImplDataTpl;
16template <typename _Scalar>
18 using Scalar = _Scalar;
25
28
29 IntegratorSemiImplEulerTpl(const xyz::polymorphic<ODEType> &cont_dynamics,
30 const Scalar timestep);
31
32 void forward(const ConstVectorRef &x, const ConstVectorRef &u,
33 BaseData &data) const;
34
35 void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
36 BaseData &data) const;
37
38 shared_ptr<DynamicsDataTpl<Scalar>> createData() const {
39 return std::make_shared<Data>(this);
40 }
41};
42
43template <typename Scalar>
61
62#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
65#endif
66
67} // namespace dynamics
68} // namespace aligator
Base definitions for explicit integrators.
Main package namespace.
xyz::polymorphic< Manifold > space_next_
Definition dynamics.hpp:23
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
Definition fwd.hpp:83
MatrixRef Jx_
Jacobian with respect to .
Definition dynamics.hpp:93
MatrixRef Ju_
Jacobian with respect to .
Definition dynamics.hpp:95
Data struct for ContinuousDynamicsAbstractTpl.
Definition fwd.hpp:15
IntegratorSemiImplDataTpl(const IntegratorSemiImplEulerTpl< Scalar > *integrator)
void dForward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
IntegratorSemiImplEulerTpl(const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
void forward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
shared_ptr< DynamicsDataTpl< Scalar > > createData() const
Base class for ODE dynamics .