ode-abstract.hpp

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#pragma once
 
#include "aligator/modelling/dynamics/continuous-dynamics-abstract.hpp"
 
namespace aligator {
namespace dynamics {
template <typename _Scalar>
struct ODEAbstractTpl : ContinuousDynamicsAbstractTpl<_Scalar> {
  using Scalar = _Scalar;
  ALIGATOR_DYNAMIC_TYPEDEFS(Scalar);
 
  using Base = ContinuousDynamicsAbstractTpl<Scalar>;
  using Data = ContinuousDynamicsDataTpl<Scalar>;
  using Base::Base;
  using Base::nu_;
  using Base::space_;
 
  virtual ~ODEAbstractTpl() = default;

  virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u,
                       Data &data) const = 0;

  virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
                        Data &data) const = 0;

 
  void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
                const ConstVectorRef &xdot, Data &data) const override;
 
  void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &u,
                        const ConstVectorRef &xdot, Data &data) const override;
};
 
#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
extern template struct ODEAbstractTpl<context::Scalar>;
#endif
 
} // namespace dynamics
} // namespace aligator