Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \). More...

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

Inheritance diagram for aligator::ExplicitDynamicsModelTpl< _Scalar >:

Collaboration diagram for aligator::ExplicitDynamicsModelTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = DynamicsModelTpl<Scalar>

using	BaseData = DynamicsDataTpl<Scalar>

using	Data = ExplicitDynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
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)

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

	ExplicitDynamicsModelTpl (ManifoldPtr next_state, 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

virtual shared_ptr< BaseData >	createData () const
	Instantiate a Data object.

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 (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

Additional Inherited Members
Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar >
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::ExplicitDynamicsModelTpl< _Scalar >

Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \).

Forward dynamics \( x_{k+1} = f(x_k, u_k) \). The corresponding residuals for multiple-shooting formulations are

\[ \bar{f}(x_k, u_k, x_{k+1}) = f(x_k, u_k) \ominus x_{k+1}. \]

Definition at line 20 of file explicit-dynamics.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

Definition at line 22 of file explicit-dynamics.hpp.

◆ Base

template<typename _Scalar >

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

Definition at line 24 of file explicit-dynamics.hpp.

◆ BaseData

template<typename _Scalar >

using aligator::ExplicitDynamicsModelTpl< _Scalar >::BaseData = DynamicsDataTpl<Scalar>

Definition at line 25 of file explicit-dynamics.hpp.

◆ Data

template<typename _Scalar >

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

Definition at line 26 of file explicit-dynamics.hpp.

◆ Manifold

template<typename _Scalar >

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

Definition at line 27 of file explicit-dynamics.hpp.

◆ ManifoldPtr

template<typename _Scalar >

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

Definition at line 28 of file explicit-dynamics.hpp.

Constructor & Destructor Documentation

◆ ExplicitDynamicsModelTpl()

template<typename _Scalar >

aligator::ExplicitDynamicsModelTpl< _Scalar >::ExplicitDynamicsModelTpl	(	ManifoldPtr	next_state,
		const int	nu )

Constructor requires providing the next state's manifold.

◆ ~ExplicitDynamicsModelTpl()

template<typename _Scalar >

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

virtualdefault

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

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

◆ is_explicit()

template<typename _Scalar >

bool aligator::ExplicitDynamicsModelTpl< _Scalar >::is_explicit ( ) const

inlinevirtual

Check if this dynamics model is implicit or explicit.

Reimplemented from aligator::DynamicsModelTpl< _Scalar >.

Definition at line 30 of file explicit-dynamics.hpp.

◆ forward()

template<typename _Scalar >

virtual void aligator::ExplicitDynamicsModelTpl< _Scalar >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

pure virtual

Evaluate the forward discrete dynamics.

Implemented in aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::DirectSumExplicitDynamicsTpl< _Scalar >, and aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >.

◆ dForward()

template<typename _Scalar >

virtual void aligator::ExplicitDynamicsModelTpl< _Scalar >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

pure virtual

Compute the Jacobians of the forward dynamics.

Implemented in aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >, aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, and aligator::DirectSumExplicitDynamicsTpl< _Scalar >.

◆ evaluate()

template<typename _Scalar >

void aligator::ExplicitDynamicsModelTpl< _Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		BaseData &	data ) const

◆ computeJacobians()

template<typename _Scalar >

void aligator::ExplicitDynamicsModelTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		BaseData &	data ) const

◆ createData()

template<typename _Scalar >

virtual shared_ptr< BaseData > aligator::ExplicitDynamicsModelTpl< _Scalar >::createData ( ) const

virtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Reimplemented in aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >, aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >, and aligator::DirectSumExplicitDynamicsTpl< _Scalar >.

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

include/aligator/core/explicit-dynamics.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ Data

◆ Manifold

◆ ManifoldPtr

Constructor & Destructor Documentation

◆ ExplicitDynamicsModelTpl()

◆ ~ExplicitDynamicsModelTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ is_explicit()

◆ forward()

◆ dForward()

◆ evaluate()

◆ computeJacobians()

◆ createData()