aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar > Struct Template Reference

#include <aligator/modelling/autodiff/finite-difference.hpp>

Inheritance diagram for aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >:

Collaboration diagram for aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >:

Public Types
using	Scalar = _Scalar
using	DynamicsModel = DynamicsModelTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	Impl = internal::finite_difference_impl<Scalar, DynamicsModelTpl>
using	Data = typename Impl::Data
using	BaseData = DynamicsDataTpl<Scalar>
Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
using	Scalar
using	Data
using	Manifold

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
	DynamicsFiniteDifferenceHelper (xyz::polymorphic< Manifold > space, xyz::polymorphic< DynamicsModel > func, const Scalar fd_eps)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, BaseData &data) const
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, BaseData &data) const
shared_ptr< BaseData >	createData () const
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.
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	~DynamicsModelTpl ()=default

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

Definition at line 223 of file finite-difference.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::Scalar = _Scalar

Definition at line 224 of file finite-difference.hpp.

DynamicsModel

template<typename _Scalar >

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::DynamicsModel = DynamicsModelTpl<Scalar>

Definition at line 226 of file finite-difference.hpp.

Manifold

template<typename _Scalar >

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 227 of file finite-difference.hpp.

Impl

template<typename _Scalar >

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::Impl = internal::finite_difference_impl<Scalar, DynamicsModelTpl>

Definition at line 228 of file finite-difference.hpp.

Data

template<typename _Scalar >

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::Data = typename Impl::Data

Definition at line 229 of file finite-difference.hpp.

BaseData

template<typename _Scalar >

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::BaseData = DynamicsDataTpl<Scalar>

Definition at line 230 of file finite-difference.hpp.

Constructor & Destructor Documentation

DynamicsFiniteDifferenceHelper()

template<typename _Scalar >

aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::DynamicsFiniteDifferenceHelper ( xyz::polymorphic< Manifold > space, xyz::polymorphic< DynamicsModel > func, const Scalar fd_eps )

inline

Definition at line 234 of file finite-difference.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

_Scalar

)

evaluate()

template<typename _Scalar >

void aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & xn, BaseData & data ) const

inline

Definition at line 239 of file finite-difference.hpp.

computeJacobians()

template<typename _Scalar >

void aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & xn, BaseData & data ) const

inline

Definition at line 244 of file finite-difference.hpp.

createData()

template<typename _Scalar >

shared_ptr< BaseData > aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::DynamicsModelTpl< _Scalar >.

Definition at line 249 of file finite-difference.hpp.

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

• include/aligator/modelling/autodiff/finite-difference.hpp