Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\). More...

#include <aligator/core/dynamics.hpp>

Inheritance diagram for aligator::DynamicsModelTpl< _Scalar >:

Collaboration diagram for aligator::DynamicsModelTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Data = DynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	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.

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

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	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, Data &) const =0

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, Data &) const =0

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, const ConstVectorRef &lbda, Data &data) const

virtual shared_ptr< Data >	createData () const

virtual	~DynamicsModelTpl ()=default

Public Attributes
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.

Detailed Description

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

Dynamics model: describes system dynamics through an implicit relation \(f(x,u,x') = 0\).

A dynamics model is a function \(f(x,u,x')\) that must be set to zero, describing the dynamics mapping \((x, u) \mapsto x'\).

Definition at line 14 of file dynamics.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

using aligator::DynamicsModelTpl< _Scalar >::Scalar = _Scalar

Definition at line 15 of file dynamics.hpp.

◆ Data

template<typename _Scalar>

using aligator::DynamicsModelTpl< _Scalar >::Data = DynamicsDataTpl<Scalar>

Definition at line 17 of file dynamics.hpp.

◆ Manifold

template<typename _Scalar>

using aligator::DynamicsModelTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 18 of file dynamics.hpp.

Constructor & Destructor Documentation

◆ DynamicsModelTpl() [1/2]

template<typename _Scalar>

aligator::DynamicsModelTpl< _Scalar >::DynamicsModelTpl	(	xyz::polymorphic< Manifold >	space,
		const int	nu )

Constructor for dynamics.

Parameters

space	State space.
nu	Control dimension
ndx2	Next state space dimension.

◆ DynamicsModelTpl() [2/2]

template<typename _Scalar>

aligator::DynamicsModelTpl< _Scalar >::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.

Parameters

space	State space for the current node.
nu	Control dimension
space_next	State space for the next node.

◆ ~DynamicsModelTpl()

template<typename _Scalar>

virtual aligator::DynamicsModelTpl< _Scalar >::~DynamicsModelTpl ( )

virtualdefault

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::DynamicsModelTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ space()

template<typename _Scalar>

const Manifold & aligator::DynamicsModelTpl< _Scalar >::space ( ) const

inline

State space for the input.

Definition at line 32 of file dynamics.hpp.

◆ space_next()

template<typename _Scalar>

const Manifold & aligator::DynamicsModelTpl< _Scalar >::space_next ( ) const

inline

State space for the output of this dynamics model.

Definition at line 34 of file dynamics.hpp.

◆ isExplicit()

template<typename _Scalar>

virtual bool aligator::DynamicsModelTpl< _Scalar >::isExplicit ( ) const

inlinevirtual

Check if this dynamics model is implicit or explicit.

Definition at line 36 of file dynamics.hpp.

◆ nx1()

template<typename _Scalar>

int aligator::DynamicsModelTpl< _Scalar >::nx1 ( ) const

inline

Definition at line 38 of file dynamics.hpp.

◆ nx2()

template<typename _Scalar>

int aligator::DynamicsModelTpl< _Scalar >::nx2 ( ) const

inline

Definition at line 39 of file dynamics.hpp.

◆ evaluate()

template<typename _Scalar>

virtual void aligator::DynamicsModelTpl< _Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	xn,
		Data &	) const

pure virtual

Implemented in aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >, aligator::dynamics::IntegratorMidpointTpl< _Scalar >, and aligator::python::PyDynamics< Base >.

◆ computeJacobians()

template<typename _Scalar>

virtual void aligator::DynamicsModelTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	xn,
		Data &	) const

pure virtual

Implemented in aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >, aligator::dynamics::IntegratorMidpointTpl< _Scalar >, and aligator::python::PyDynamics< Base >.

◆ computeVectorHessianProducts()

template<typename _Scalar>

virtual void aligator::DynamicsModelTpl< _Scalar >::computeVectorHessianProducts	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	xn,
		const ConstVectorRef &	lbda,
		Data &	data ) const

virtual

Reimplemented in aligator::python::PyDynamics< Base >.

◆ createData()

template<typename _Scalar>

virtual shared_ptr< Data > aligator::DynamicsModelTpl< _Scalar >::createData ( ) const

virtual

Reimplemented in aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >, aligator::dynamics::IntegratorAbstractTpl< _Scalar >, aligator::dynamics::IntegratorAbstractTpl< Scalar >, aligator::dynamics::IntegratorAbstractTpl< Scalar >, aligator::dynamics::IntegratorMidpointTpl< _Scalar >, and aligator::python::PyDynamics< Base >.

Member Data Documentation

◆ space_

template<typename _Scalar>

xyz::polymorphic<Manifold> aligator::DynamicsModelTpl< _Scalar >::space_

State space for the input.

Definition at line 21 of file dynamics.hpp.

◆ space_next_

template<typename _Scalar>

xyz::polymorphic<Manifold> aligator::DynamicsModelTpl< _Scalar >::space_next_

State space for the output of this dynamics model.

Definition at line 23 of file dynamics.hpp.

◆ ndx1

template<typename _Scalar>

const int aligator::DynamicsModelTpl< _Scalar >::ndx1

State space dimension.

Definition at line 25 of file dynamics.hpp.

◆ nu

template<typename _Scalar>

const int aligator::DynamicsModelTpl< _Scalar >::nu

Control dimension.

Definition at line 27 of file dynamics.hpp.

◆ ndx2

template<typename _Scalar>

const int aligator::DynamicsModelTpl< _Scalar >::ndx2

Next state space dimension.

Definition at line 29 of file dynamics.hpp.

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

include/aligator/core/dynamics.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Data

◆ Manifold

Constructor & Destructor Documentation

◆ DynamicsModelTpl() [1/2]

◆ DynamicsModelTpl() [2/2]

◆ ~DynamicsModelTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ space()

◆ space_next()

◆ isExplicit()

◆ nx1()

◆ nx2()

◆ evaluate()

◆ computeJacobians()

◆ computeVectorHessianProducts()

◆ createData()

Member Data Documentation

◆ space_

◆ space_next_

◆ ndx1

◆ nu

◆ ndx2