aligator::DynamicsModelTpl< _Scalar > Struct Template Reference

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	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)
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	is_explicit () const
	Check if this dynamics model is implicit or explicit.
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
virtual shared_ptr< Data >	createData () const
	Instantiate a Data object.

Public Attributes
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.

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 \((x, u) \mapsto x'\). DynamicsModelTpl::nr is assumed to be equal to DynamicsModelTpl::ndx2.

Definition at line 18 of file dynamics.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 19 of file dynamics.hpp.

Base

template<typename _Scalar >

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

Definition at line 21 of file dynamics.hpp.

Data

template<typename _Scalar >

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

Definition at line 22 of file dynamics.hpp.

Manifold

template<typename _Scalar >

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

Definition at line 23 of file dynamics.hpp.

ManifoldPtr

template<typename _Scalar >

using aligator::DynamicsModelTpl< _Scalar >::ManifoldPtr = shared_ptr<Manifold>

Definition at line 24 of file dynamics.hpp.

Constructor & Destructor Documentation

DynamicsModelTpl() [1/2]

template<typename _Scalar >

aligator::DynamicsModelTpl< _Scalar >::DynamicsModelTpl	(	ManifoldPtr	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	(	ManifoldPtr	space,
		const int	nu,
		ManifoldPtr	space2 )

Constructor for dynamics. This constructor assumes same dimension for the current and next state.

Parameters

space	State space for the current, and next node.
nu	Control dimension

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.

is_explicit()

template<typename _Scalar >

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

inlinevirtual

Check if this dynamics model is implicit or explicit.

Reimplemented in aligator::ExplicitDynamicsModelTpl< _Scalar >.

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.

Member Data Documentation

space_

template<typename _Scalar >

ManifoldPtr aligator::DynamicsModelTpl< _Scalar >::space_

State space for the input.

Definition at line 27 of file dynamics.hpp.

space_next_

template<typename _Scalar >

ManifoldPtr aligator::DynamicsModelTpl< _Scalar >::space_next_

State space for the output of this dynamics model.

Definition at line 29 of file dynamics.hpp.

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

• include/aligator/core/dynamics.hpp