11template <
typename _Scalar>
31 void forward(
const ConstVectorRef &x,
const ConstVectorRef &u,
38 void dForward(
const ConstVectorRef &,
const ConstVectorRef &,
Data &)
const {}
Namespace for modelling system dynamics.
Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.
VectorXs xnext_
Next state.
virtual shared_ptr< Data > createData() const
ExplicitDynamicsModelTpl(const polymorphic< Manifold > &space, const int nu)
Constructor requires providing the next state's manifold.
Standard Euclidean vector space.
LinearDiscreteDynamicsTpl(const MatrixXs &A, const MatrixXs &B, const VectorXs &c)
Constructor with state manifold and matrices.
ExplicitDynamicsModelTpl< Scalar > Base
void dForward(const ConstVectorRef &, const ConstVectorRef &, Data &) const
Compute the Jacobians of the forward dynamics.
ExplicitDynamicsDataTpl< Scalar > Data
shared_ptr< Data > createData() const
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void forward(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
Evaluate the forward discrete dynamics.
VectorSpaceTpl< Scalar, Eigen::Dynamic > VectorSpaceType