aligator::ExplicitDynamicsDataTpl< _Scalar > Struct Template Reference

Specific data struct for explicit dynamics ExplicitDynamicsModelTpl. More...

#include <aligator/core/explicit-dynamics.hpp>

Inheritance diagram for aligator::ExplicitDynamicsDataTpl< _Scalar >:

Collaboration diagram for aligator::ExplicitDynamicsDataTpl< _Scalar >:

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

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ExplicitDynamicsDataTpl (const int ndx1, const int nu, const int nx2, const int ndx2)
virtual	~ExplicitDynamicsDataTpl ()=default
Public Member Functions inherited from aligator::StageFunctionDataTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionDataTpl (const int ndx1, const int nu, const int ndx2, const int nr)
	Default constructor.
virtual	~StageFunctionDataTpl ()=default
Public Member Functions inherited from aligator::Cloneable< StageFunctionDataTpl< _Scalar > >
shared_ptr< StageFunctionDataTpl< _Scalar > >	clone () const

Public Attributes
VectorXs	xnext_
	Model next state.
VectorXs	dx_
	Difference vector between current state x and xnext_.
MatrixXs	Jtmp_xnext
	Jacobian.
VectorRef	xnext_ref
VectorRef	dx_ref
Public Attributes inherited from aligator::StageFunctionDataTpl< _Scalar >
const int	ndx1
const int	nu
const int	ndx2
const int	nr
const int	nvar = ndx1 + nu + ndx2
	Total number of variables.
VectorXs	value_
	Function value.
VectorRef	valref_
MatrixXs	jac_buffer_
	Full Jacobian.
MatrixXs	vhp_buffer_
	Vector-Hessian product buffer.
MatrixRef	Jx_
	Jacobian with respect to \(x\).
MatrixRef	Ju_
	Jacobian with respect to \(u\).
MatrixRef	Jy_
	Jacobian with respect to \(y\).
MatrixRef	Hxx_
MatrixRef	Hxu_
MatrixRef	Hxy_
MatrixRef	Huu_
MatrixRef	Huy_
MatrixRef	Hyy_

Friends
template<typename S >
std::ostream &	operator<< (std::ostream &oss, const ExplicitDynamicsDataTpl< S > &self)

Additional Inherited Members
Protected Member Functions inherited from aligator::StageFunctionDataTpl< _Scalar >
virtual StageFunctionDataTpl *	clone_impl () const

Detailed Description

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

Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.

Definition at line 56 of file explicit-dynamics.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 58 of file explicit-dynamics.hpp.

Base

template<typename _Scalar >

using aligator::ExplicitDynamicsDataTpl< _Scalar >::Base = StageFunctionDataTpl<Scalar>

Definition at line 60 of file explicit-dynamics.hpp.

Constructor & Destructor Documentation

ExplicitDynamicsDataTpl()

template<typename _Scalar >

aligator::ExplicitDynamicsDataTpl< _Scalar >::ExplicitDynamicsDataTpl	(	const int	ndx1,
		const int	nu,
		const int	nx2,
		const int	ndx2 )

~ExplicitDynamicsDataTpl()

template<typename _Scalar >

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

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::ExplicitDynamicsDataTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

Friends And Related Symbol Documentation

operator<<

template<typename _Scalar >

template<typename S >

std::ostream & operator<< ( std::ostream & oss, const ExplicitDynamicsDataTpl< S > & self )

friend

Definition at line 85 of file explicit-dynamics.hpp.

Member Data Documentation

xnext_

template<typename _Scalar >

VectorXs aligator::ExplicitDynamicsDataTpl< _Scalar >::xnext_

Model next state.

Definition at line 66 of file explicit-dynamics.hpp.

dx_

template<typename _Scalar >

VectorXs aligator::ExplicitDynamicsDataTpl< _Scalar >::dx_

Difference vector between current state x and xnext_.

Definition at line 68 of file explicit-dynamics.hpp.

Jtmp_xnext

template<typename _Scalar >

MatrixXs aligator::ExplicitDynamicsDataTpl< _Scalar >::Jtmp_xnext

Jacobian.

Definition at line 70 of file explicit-dynamics.hpp.

xnext_ref

template<typename _Scalar >

VectorRef aligator::ExplicitDynamicsDataTpl< _Scalar >::xnext_ref

Definition at line 72 of file explicit-dynamics.hpp.

dx_ref

template<typename _Scalar >

VectorRef aligator::ExplicitDynamicsDataTpl< _Scalar >::dx_ref

Definition at line 73 of file explicit-dynamics.hpp.

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

• include/aligator/core/explicit-dynamics.hpp