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

Data struct for ContinuousDynamicsAbstractTpl. More...

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

Public Types
using	Scalar = _Scalar

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
ConstMatrixRef	Jx () const
ConstMatrixRef	Ju () const
MatrixRef	Jx ()
MatrixRef	Ju ()
	ContinuousDynamicsDataTpl (const int ndx, const int nu)
virtual	~ContinuousDynamicsDataTpl ()=default

Public Attributes
VectorXs	value_
	Residual value \(e = f(x,u,\dot{x})\).
MatrixXs	Jx_
	Derivative \(\partial f/{\partial x}\).
MatrixXs	Ju_
	Derivative \(\partial f/{\partial u}\).
MatrixXs	Jxdot_
	Derivative \(\partial f/\partial\dot{x}\).
VectorXs	xdot_
	Time derivative \(\dot{x} = f(x, u)\), output of ODE model.

Detailed Description

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

Data struct for ContinuousDynamicsAbstractTpl.

Definition at line 64 of file continuous-dynamics-abstract.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 66 of file continuous-dynamics-abstract.hpp.

Constructor & Destructor Documentation

ContinuousDynamicsDataTpl()

template<typename _Scalar>

aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::ContinuousDynamicsDataTpl	(	const int	ndx,
		const int	nu )

~ContinuousDynamicsDataTpl()

template<typename _Scalar>

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

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

Jx() [1/2]

template<typename _Scalar>

ConstMatrixRef aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Jx ( ) const

inline

Definition at line 80 of file continuous-dynamics-abstract.hpp.

Ju() [1/2]

template<typename _Scalar>

ConstMatrixRef aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Ju ( ) const

inline

Definition at line 81 of file continuous-dynamics-abstract.hpp.

Jx() [2/2]

template<typename _Scalar>

MatrixRef aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Jx ( )

inline

Definition at line 82 of file continuous-dynamics-abstract.hpp.

Ju() [2/2]

template<typename _Scalar>

MatrixRef aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Ju ( )

inline

Definition at line 83 of file continuous-dynamics-abstract.hpp.

Member Data Documentation

value_

template<typename _Scalar>

VectorXs aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::value_

Residual value \(e = f(x,u,\dot{x})\).

Definition at line 70 of file continuous-dynamics-abstract.hpp.

Jx_

template<typename _Scalar>

MatrixXs aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Jx_

Derivative \(\partial f/{\partial x}\).

Definition at line 72 of file continuous-dynamics-abstract.hpp.

Ju_

template<typename _Scalar>

MatrixXs aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Ju_

Derivative \(\partial f/{\partial u}\).

Definition at line 74 of file continuous-dynamics-abstract.hpp.

Jxdot_

template<typename _Scalar>

MatrixXs aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::Jxdot_

Derivative \(\partial f/\partial\dot{x}\).

Definition at line 76 of file continuous-dynamics-abstract.hpp.

xdot_

template<typename _Scalar>

VectorXs aligator::dynamics::ContinuousDynamicsDataTpl< _Scalar >::xdot_

Time derivative \(\dot{x} = f(x, u)\), output of ODE model.

Definition at line 78 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