aligator
0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/modelling/explicit-dynamics-direct-sum.hpp>
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 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 (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< Base > | f_ |
xyz::polymorphic< Base > | g_ |
Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar > | |
xyz::polymorphic< Manifold > | space_ |
State space for the input. | |
xyz::polymorphic< Manifold > | space_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. | |
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.
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Scalar = _Scalar |
Definition at line 17 of file explicit-dynamics-direct-sum.hpp.
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Base = ExplicitDynamicsModelTpl<Scalar> |
Definition at line 19 of file explicit-dynamics-direct-sum.hpp.
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 20 of file explicit-dynamics-direct-sum.hpp.
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::CartesianProduct = proxsuite::nlp::CartesianProductTpl<Scalar> |
Definition at line 21 of file explicit-dynamics-direct-sum.hpp.
using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::BaseData = ExplicitDynamicsDataTpl<Scalar> |
Definition at line 22 of file explicit-dynamics-direct-sum.hpp.
aligator::DirectSumExplicitDynamicsTpl< _Scalar >::DirectSumExplicitDynamicsTpl | ( | xyz::polymorphic< Base > | f, |
xyz::polymorphic< Base > | g ) |
aligator::DirectSumExplicitDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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override |
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override |
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inlineoverridevirtual |
Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.
Definition at line 35 of file explicit-dynamics-direct-sum.hpp.
xyz::polymorphic<Base> aligator::DirectSumExplicitDynamicsTpl< _Scalar >::f_ |
Definition at line 39 of file explicit-dynamics-direct-sum.hpp.
xyz::polymorphic<Base> aligator::DirectSumExplicitDynamicsTpl< _Scalar >::g_ |
Definition at line 39 of file explicit-dynamics-direct-sum.hpp.