aligator  0.12.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
 
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ode-abstract.hpp
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1#pragma once
5
7
8namespace aligator {
9namespace dynamics {
14template <typename _Scalar>
16 using Scalar = _Scalar;
18
21 using Base::Base;
22 using Base::nu_;
23 using Base::space_;
24
25 virtual ~ODEAbstractTpl() = default;
26
28 virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u,
29 Data &data) const = 0;
30
32 virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u,
33 Data &data) const = 0;
34
36
37 void evaluate(const ConstVectorRef &x, const ConstVectorRef &u,
38 const ConstVectorRef &xdot, Data &data) const override;
39
40 void computeJacobians(const ConstVectorRef &x, const ConstVectorRef &u,
41 const ConstVectorRef &xdot, Data &data) const override;
42};
43
44} // namespace dynamics
45} // namespace aligator
46
47#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
48#include "aligator/modelling/dynamics/ode-abstract.txx"
49#endif
Base definitions for continuous dynamics.
Namespace for modelling system dynamics.
Main package namespace.
ContinuousDynamicsAbstractTpl(ManifoldPtr space, const int nu)
Data struct for ContinuousDynamicsAbstractTpl.
Base class for ODE dynamics .
virtual void forward(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
Evaluate the ODE vector field: this returns the value of .
virtual void dForward(const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
Evaluate the vector field Jacobians.
ContinuousDynamicsDataTpl< Scalar > Data
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
Differentiate the vector field.
ContinuousDynamicsAbstractTpl< Scalar > Base