aligator  0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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aligator::DirectSumExplicitDynamicsTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/explicit-dynamics-direct-sum.hpp>

Inheritance diagram for aligator::DirectSumExplicitDynamicsTpl< _Scalar >:
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Collaboration diagram for aligator::DirectSumExplicitDynamicsTpl< _Scalar >:
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Classes

struct  Data
 

Public Types

using Scalar = _Scalar
 
using Base = ExplicitDynamicsModelTpl<Scalar>
 
using Manifold = ManifoldAbstractTpl<Scalar>
 
using CartesianProduct = proxsuite::nlp::CartesianProductTpl<Scalar>
 
using BaseData = ExplicitDynamicsDataTpl<Scalar>
 
- Public Types inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
using Scalar
 
using Base
 
using BaseData
 
using Data
 
using Manifold
 
using ManifoldPtr
 
- Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
using Scalar
 
using Data
 
using Manifold
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 DirectSumExplicitDynamicsTpl (xyz::polymorphic< Base > f, xyz::polymorphic< Base > g)
 
void forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
 
void dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
 
shared_ptr< DynamicsDataTpl< Scalar > > createData () const override
 
- Public Member Functions inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
 
bool isExplicit () const
 Check if this dynamics model is implicit or explicit.
 
 ExplicitDynamicsModelTpl (const ManifoldPtr &space, const int nu)
 Constructor requires providing the next state's manifold.
 
virtual ~ExplicitDynamicsModelTpl ()=default
 
virtual void forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
 Evaluate the forward discrete dynamics.
 
virtual void dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
 Compute the Jacobians of the forward dynamics.
 
void evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const
 
void computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const
 
- Public Member Functions inherited from aligator::DynamicsModelTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
 
const Manifoldspace () const
 State space for the input.
 
const Manifoldspace_next () const
 State space for the output of this dynamics model.
 
int nx1 () const
 
int nx2 () const
 
 DynamicsModelTpl (xyz::polymorphic< Manifold > space, const int nu)
 Constructor for dynamics.
 
 DynamicsModelTpl (xyz::polymorphic< Manifold > space, const int nu, xyz::polymorphic< Manifold > space_next)
 Constructor for dynamics. This constructor assumes same dimension for the current and next state.
 
virtual void computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, const ConstVectorRef &lbda, Data &data) const
 
virtual ~DynamicsModelTpl ()=default
 

Public Attributes

xyz::polymorphic< Basef_
 
xyz::polymorphic< Baseg_
 
- Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar >
xyz::polymorphic< Manifoldspace_
 State space for the input.
 
xyz::polymorphic< Manifoldspace_next_
 State space for the output of this dynamics model.
 
const int ndx1
 State space dimension.
 
const int nu
 Control dimension.
 
const int ndx2
 Next state space dimension.
 

Detailed Description

template<typename _Scalar>
struct aligator::DirectSumExplicitDynamicsTpl< _Scalar >

Direct sum of two explicit-dynamics models. This operates on the product space of the two supplied functions. The expression is

\[ (x_{k+1}, z_{k+1}) = (f(x_k, u_k), g(z_k, w_k)) \]

where \(f,g\) are the two components.

Definition at line 16 of file explicit-dynamics-direct-sum.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Scalar = _Scalar

Definition at line 17 of file explicit-dynamics-direct-sum.hpp.

◆ Base

template<typename _Scalar >
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Base = ExplicitDynamicsModelTpl<Scalar>

Definition at line 19 of file explicit-dynamics-direct-sum.hpp.

◆ Manifold

template<typename _Scalar >
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 20 of file explicit-dynamics-direct-sum.hpp.

◆ CartesianProduct

template<typename _Scalar >
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::CartesianProduct = proxsuite::nlp::CartesianProductTpl<Scalar>

Definition at line 21 of file explicit-dynamics-direct-sum.hpp.

◆ BaseData

template<typename _Scalar >
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::BaseData = ExplicitDynamicsDataTpl<Scalar>

Definition at line 22 of file explicit-dynamics-direct-sum.hpp.

Constructor & Destructor Documentation

◆ DirectSumExplicitDynamicsTpl()

template<typename _Scalar >
aligator::DirectSumExplicitDynamicsTpl< _Scalar >::DirectSumExplicitDynamicsTpl ( xyz::polymorphic< Base > f,
xyz::polymorphic< Base > g )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >
aligator::DirectSumExplicitDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ forward()

template<typename _Scalar >
void aligator::DirectSumExplicitDynamicsTpl< _Scalar >::forward ( const ConstVectorRef & x,
const ConstVectorRef & u,
BaseData & data ) const
override

◆ dForward()

template<typename _Scalar >
void aligator::DirectSumExplicitDynamicsTpl< _Scalar >::dForward ( const ConstVectorRef & x,
const ConstVectorRef & u,
BaseData & data ) const
override

◆ createData()

template<typename _Scalar >
shared_ptr< DynamicsDataTpl< Scalar > > aligator::DirectSumExplicitDynamicsTpl< _Scalar >::createData ( ) const
inlineoverridevirtual

Member Data Documentation

◆ f_

template<typename _Scalar >
xyz::polymorphic<Base> aligator::DirectSumExplicitDynamicsTpl< _Scalar >::f_

Definition at line 39 of file explicit-dynamics-direct-sum.hpp.

◆ g_

template<typename _Scalar >
xyz::polymorphic<Base> aligator::DirectSumExplicitDynamicsTpl< _Scalar >::g_

Definition at line 39 of file explicit-dynamics-direct-sum.hpp.


The documentation for this struct was generated from the following file: