aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Friends | List of all members
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 >:
[legend]

Public Types

using Scalar = _Scalar
 
using Model = ExplicitDynamicsModelTpl<Scalar>
 

Public Member Functions

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
auto Jx ()
 
auto Jx () const
 
auto Ju ()
 
auto Ju () const
 
 ExplicitDynamicsDataTpl (const Model &model)
 
virtual ~ExplicitDynamicsDataTpl ()=default
 

Public Attributes

VectorXs xnext_
 Next state.
 
MatrixXs jac_buffer_
 
MatrixXs Jtmp_xnext
 
MatrixXs Hxx_
 
MatrixXs Hxu_
 
MatrixXs Huu_
 

Protected Member Functions

 ExplicitDynamicsDataTpl (int ndx1, int nu, int nx2, int ndx2)
 

Protected Attributes

int ndx1
 
int nu
 
int ndx2
 

Friends

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

Detailed Description

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

Specific data struct for explicit dynamics ExplicitDynamicsModelTpl.

Definition at line 64 of file explicit-dynamics.hpp.

Member Typedef Documentation

◆ Scalar

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

Definition at line 87 of file explicit-dynamics.hpp.

◆ Model

template<typename _Scalar>
using aligator::ExplicitDynamicsDataTpl< _Scalar >::Model = ExplicitDynamicsModelTpl<Scalar>

Definition at line 88 of file explicit-dynamics.hpp.

Constructor & Destructor Documentation

◆ ExplicitDynamicsDataTpl() [1/2]

template<typename _Scalar>
aligator::ExplicitDynamicsDataTpl< _Scalar >::ExplicitDynamicsDataTpl ( int ndx1,
int nu,
int nx2,
int ndx2 )
inlineprotected

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

◆ ExplicitDynamicsDataTpl() [2/2]

template<typename _Scalar>
aligator::ExplicitDynamicsDataTpl< _Scalar >::ExplicitDynamicsDataTpl ( const Model & model)
inlineexplicit

Definition at line 106 of file explicit-dynamics.hpp.

◆ ~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 )

◆ Jx() [1/2]

template<typename _Scalar>
auto aligator::ExplicitDynamicsDataTpl< _Scalar >::Jx ( )
inline

Definition at line 101 of file explicit-dynamics.hpp.

◆ Jx() [2/2]

template<typename _Scalar>
auto aligator::ExplicitDynamicsDataTpl< _Scalar >::Jx ( ) const
inline

Definition at line 102 of file explicit-dynamics.hpp.

◆ Ju() [1/2]

template<typename _Scalar>
auto aligator::ExplicitDynamicsDataTpl< _Scalar >::Ju ( )
inline

Definition at line 103 of file explicit-dynamics.hpp.

◆ Ju() [2/2]

template<typename _Scalar>
auto aligator::ExplicitDynamicsDataTpl< _Scalar >::Ju ( ) const
inline

Definition at line 104 of file explicit-dynamics.hpp.

Friends And Related Symbol Documentation

◆ operator<<

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

Definition at line 114 of file explicit-dynamics.hpp.

Member Data Documentation

◆ ndx1

template<typename _Scalar>
int aligator::ExplicitDynamicsDataTpl< _Scalar >::ndx1
protected

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

◆ nu

template<typename _Scalar>
int aligator::ExplicitDynamicsDataTpl< _Scalar >::nu
protected

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

◆ ndx2

template<typename _Scalar>
int aligator::ExplicitDynamicsDataTpl< _Scalar >::ndx2
protected

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

◆ xnext_

template<typename _Scalar>
VectorXs aligator::ExplicitDynamicsDataTpl< _Scalar >::xnext_

Next state.

Definition at line 91 of file explicit-dynamics.hpp.

◆ jac_buffer_

template<typename _Scalar>
MatrixXs aligator::ExplicitDynamicsDataTpl< _Scalar >::jac_buffer_

Definition at line 93 of file explicit-dynamics.hpp.

◆ Jtmp_xnext

template<typename _Scalar>
MatrixXs aligator::ExplicitDynamicsDataTpl< _Scalar >::Jtmp_xnext

Definition at line 94 of file explicit-dynamics.hpp.

◆ Hxx_

template<typename _Scalar>
MatrixXs aligator::ExplicitDynamicsDataTpl< _Scalar >::Hxx_

Definition at line 97 of file explicit-dynamics.hpp.

◆ Hxu_

template<typename _Scalar>
MatrixXs aligator::ExplicitDynamicsDataTpl< _Scalar >::Hxu_

Definition at line 98 of file explicit-dynamics.hpp.

◆ Huu_

template<typename _Scalar>
MatrixXs aligator::ExplicitDynamicsDataTpl< _Scalar >::Huu_

Definition at line 99 of file explicit-dynamics.hpp.

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