16template <
typename _Scalar>
32 void forward(
const ConstVectorRef &x,
const ConstVectorRef &u,
35 void dForward(
const ConstVectorRef &x,
const ConstVectorRef &u,
39 return std::make_shared<Data>(
this);
43template <
typename Scalar>
62#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
Base definitions for explicit integrators.
Namespace for modelling system dynamics.
xyz::polymorphic< Manifold > space_next_
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
Data struct for ContinuousDynamicsAbstractTpl.
ExplicitIntegratorAbstractTpl(const xyz::polymorphic< ODEType > &cont_dynamics)
ExplicitIntegratorDataTpl(const ExplicitIntegratorAbstractTpl< Scalar > *integrator)
IntegratorSemiImplDataTpl(const IntegratorSemiImplEulerTpl< Scalar > *integrator)
ExplicitIntegratorDataTpl< Scalar > Base
ContinuousDynamicsDataTpl< Scalar > ODEData
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
Semi-implicit Euler integrator .
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
IntegratorSemiImplDataTpl< Scalar > Data
void dForward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
Compute the Jacobians of the forward dynamics.
IntegratorSemiImplEulerTpl(const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
ExplicitIntegratorAbstractTpl< Scalar > Base
void forward(const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
Evaluate the forward discrete dynamics.
Scalar timestep_
Integration time step .
ExplicitDynamicsDataTpl< Scalar > BaseData
shared_ptr< DynamicsDataTpl< Scalar > > createData() const
ODEAbstractTpl< Scalar > ODEType
Base class for ODE dynamics .