aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar > Struct Template Reference

Continuous dynamics described by differential-algebraic equations (DAEs) \(F(\dot{x}, x, u) = 0\). More...

#include <aligator/modelling/dynamics/continuous-dynamics-abstract.hpp>

Inheritance diagram for aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >:

Collaboration diagram for aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Manifold = ManifoldAbstractTpl<Scalar>
using	ManifoldPtr = shared_ptr<Manifold>
using	Data = ContinuousDynamicsDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	ndx () const
int	nu () const
const Manifold &	space () const
	Return a reference to the state space.
	ContinuousDynamicsAbstractTpl (ManifoldPtr space, const int nu)
virtual	~ContinuousDynamicsAbstractTpl ()=default
virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const =0
	Evaluate the vector field at a point \((x, u)\).
virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const =0
	Differentiate the vector field.
virtual shared_ptr< Data >	createData () const
	Create a data holder instance.

Public Attributes
ManifoldPtr	space_
	State space.
const int	nu_
	Control space dimension.

Detailed Description

template<typename _Scalar>
struct aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >

Continuous dynamics described by differential-algebraic equations (DAEs) \(F(\dot{x}, x, u) = 0\).

Continuous dynamics described as \( f(x, u, \dot{x}) = 0 \). The codimension of this function is the same as that of \(x\).

Definition at line 18 of file continuous-dynamics-abstract.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::Scalar = _Scalar

Definition at line 19 of file continuous-dynamics-abstract.hpp.

Manifold

template<typename _Scalar >

using aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 21 of file continuous-dynamics-abstract.hpp.

ManifoldPtr

template<typename _Scalar >

using aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::ManifoldPtr = shared_ptr<Manifold>

Definition at line 22 of file continuous-dynamics-abstract.hpp.

Data

template<typename _Scalar >

using aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::Data = ContinuousDynamicsDataTpl<Scalar>

Definition at line 23 of file continuous-dynamics-abstract.hpp.

Constructor & Destructor Documentation

ContinuousDynamicsAbstractTpl()

template<typename _Scalar >

aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::ContinuousDynamicsAbstractTpl	(	ManifoldPtr	space,
		const int	nu )

~ContinuousDynamicsAbstractTpl()

template<typename _Scalar >

virtual aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::~ContinuousDynamicsAbstractTpl ( )

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

ndx()

template<typename _Scalar >

int aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::ndx ( ) const

inline

Definition at line 30 of file continuous-dynamics-abstract.hpp.

nu()

template<typename _Scalar >

int aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::nu ( ) const

inline

Definition at line 31 of file continuous-dynamics-abstract.hpp.

space()

template<typename _Scalar >

const Manifold & aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::space ( ) const

inline

Return a reference to the state space.

Definition at line 34 of file continuous-dynamics-abstract.hpp.

evaluate()

template<typename _Scalar >

virtual void aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & xdot, Data & data ) const

pure virtual

Evaluate the vector field at a point \((x, u)\).

Parameters

	x	The input state variable.
	u	The input control variable.
	xdot	Derivative of the state.
[out]	data	The output data object.

computeJacobians()

template<typename _Scalar >

virtual void aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & xdot, Data & data ) const

pure virtual

Differentiate the vector field.

Parameters

	x	The input state variable.
	u	The input control variable.
	xdot	Derivative of the state.
[out]	data	The output data object.

createData()

template<typename _Scalar >

virtual shared_ptr< Data > aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::createData ( ) const

virtual

Create a data holder instance.

Reimplemented in aligator::dynamics::CentroidalFwdDynamicsTpl< _Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >, aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >, aligator::dynamics::LinearODETpl< _Scalar >, aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >, aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >, aligator::python::PyContinuousDynamics< T >, and aligator::python::PyODEAbstract< T >.

Member Data Documentation

space_

template<typename _Scalar >

ManifoldPtr aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::space_

State space.

Definition at line 26 of file continuous-dynamics-abstract.hpp.

nu_

template<typename _Scalar >

const int aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >::nu_

Control space dimension.

Definition at line 28 of file continuous-dynamics-abstract.hpp.

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

• include/aligator/modelling/dynamics/continuous-dynamics-abstract.hpp