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 = ExplicitDynamicsModelTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	Impl
using	Data = typename Impl::Data
using	BaseData = ExplicitDynamicsDataTpl<Scalar>
Public Types inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
using	Scalar = _Scalar
using	Data = ExplicitDynamicsDataTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
	DynamicsFiniteDifferenceHelper (xyz::polymorphic< Manifold > space, xyz::polymorphic< DynamicsModel > func, const Scalar fd_eps)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the forward discrete dynamics.
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Compute the Jacobians of the forward dynamics.
shared_ptr< BaseData >	createData () const
Public Member Functions inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	ExplicitDynamicsModelTpl (const polymorphic< Manifold > &space, const int nu)
	Constructor requires providing the next state's manifold.
const Manifold &	space () const
const Manifold &	space_next () const
int	nx1 () const
int	ndx1 () const
int	nx2 () const
int	ndx2 () const
virtual	~ExplicitDynamicsModelTpl ()=default

Additional Inherited Members
Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
polymorphic< Manifold >	space_
polymorphic< Manifold >	space_next_
int	nu
Static Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
static constexpr bool	is_explicit = true

Detailed Description

template<typename _Scalar>
struct aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >

Definition at line 256 of file finite-difference.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 257 of file finite-difference.hpp.

DynamicsModel

template<typename _Scalar>

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

Definition at line 259 of file finite-difference.hpp.

Manifold

template<typename _Scalar>

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

Definition at line 260 of file finite-difference.hpp.

Impl

template<typename _Scalar>

using aligator::autodiff::DynamicsFiniteDifferenceHelper< _Scalar >::Impl

Initial value:

 
      internal::finite_difference_impl<Scalar, ExplicitDynamicsModelTpl>

Definition at line 261 of file finite-difference.hpp.

Data

template<typename _Scalar>

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

Definition at line 263 of file finite-difference.hpp.

BaseData

template<typename _Scalar>

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

Definition at line 264 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 268 of file finite-difference.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

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

(

_Scalar

)

forward()

template<typename _Scalar>

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

inlinevirtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 274 of file finite-difference.hpp.

dForward()

template<typename _Scalar>

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

inlinevirtual

Compute the Jacobians of the forward dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 279 of file finite-difference.hpp.

createData()

template<typename _Scalar>

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

inlinevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 284 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