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

Inheritance diagram for aligator::DirectSumExplicitDynamicsTpl< _Scalar >:

Collaboration diagram for aligator::DirectSumExplicitDynamicsTpl< _Scalar >:

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 = _Scalar

using	Base = DynamicsModelTpl<Scalar>

using	BaseData = DynamicsDataTpl<Scalar>

using	Data = ExplicitDynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	Data = DynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	DirectSumExplicitDynamicsTpl (shared_ptr< Base > f, shared_ptr< Base > g)

void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Evaluate the forward discrete dynamics.

void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Compute the Jacobians of the forward dynamics.

shared_ptr< DynamicsDataTpl< Scalar > >	createData () const override
	Instantiate a Data object.

Public Member Functions inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

bool	is_explicit () const
	Check if this dynamics model is implicit or explicit.

	ExplicitDynamicsModelTpl (ManifoldPtr next_state, const int nu)
	Constructor requires providing the next state's manifold.

virtual	~ExplicitDynamicsModelTpl ()=default

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 Manifold &	space () const
	State space for the input.

const Manifold &	space_next () const
	State space for the output of this dynamics model.

int	nx1 () const

int	nx2 () const

	DynamicsModelTpl (ManifoldPtr space, const int nu)
	Constructor for dynamics.

	DynamicsModelTpl (ManifoldPtr space, const int nu, ManifoldPtr space2)
	Constructor for dynamics. This constructor assumes same dimension for the current and next state.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)

	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Evaluate the function.

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Compute Jacobians of this function.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Attributes
shared_ptr< Base >	f_

shared_ptr< Base >	g_

Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar >
ManifoldPtr	space_
	State space for the input.

ManifoldPtr	space_next_
	State space for the output of this dynamics model.

Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state dimension.

const int	nr
	Function codimension.