aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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#include <aligator/compat/crocoddyl/action-model-wrap.hpp>
Public Types | |
using | Base = ExplicitDynamicsModelTpl<Scalar> |
using | DynData = ExplicitDynamicsDataTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
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using | Scalar |
using | Data |
using | Manifold |
using | Scalar |
using | Data |
using | Manifold |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
NoOpDynamics (const xyz::polymorphic< Manifold > &state, const int nu) | |
void | forward (const ConstVectorRef &, const ConstVectorRef &, DynData &) const override |
Evaluate the forward discrete dynamics. | |
void | dForward (const ConstVectorRef &, const ConstVectorRef &, DynData &) const override |
Compute the Jacobians of the forward dynamics. | |
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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 shared_ptr< Data > | createData () const |
virtual | ~ExplicitDynamicsModelTpl ()=default |
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 shared_ptr< Data > | createData () const |
virtual | ~ExplicitDynamicsModelTpl ()=default |
Additional Inherited Members | |
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polymorphic< Manifold > | space_ |
polymorphic< Manifold > | space_next_ |
int | nu |
polymorphic< Manifold > | space_ |
polymorphic< Manifold > | space_next_ |
int | nu |
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static constexpr bool | is_explicit |
static constexpr bool | is_explicit |
Definition at line 18 of file action-model-wrap.hpp.
using aligator::compat::croc::NoOpDynamics< Scalar >::Base = ExplicitDynamicsModelTpl<Scalar> |
Definition at line 19 of file action-model-wrap.hpp.
using aligator::compat::croc::NoOpDynamics< Scalar >::DynData = ExplicitDynamicsDataTpl<Scalar> |
Definition at line 20 of file action-model-wrap.hpp.
using aligator::compat::croc::NoOpDynamics< Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 21 of file action-model-wrap.hpp.
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inline |
Definition at line 23 of file action-model-wrap.hpp.
aligator::compat::croc::NoOpDynamics< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlineoverridevirtual |
Evaluate the forward discrete dynamics.
Implements aligator::ExplicitDynamicsModelTpl< Scalar >.
Definition at line 26 of file action-model-wrap.hpp.
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inlineoverridevirtual |
Compute the Jacobians of the forward dynamics.
Implements aligator::ExplicitDynamicsModelTpl< Scalar >.
Definition at line 29 of file action-model-wrap.hpp.