Explicit integrators \(x_{k+1} = f(x_k, u_k) \). More...

#include <aligator/modelling/dynamics/integrator-explicit.hpp>

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

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

Public Types
using	Scalar = _Scalar

using	ODEType = ODEAbstractTpl<Scalar>

using	Base = ExplicitDynamicsModelTpl<Scalar>

using	DerivedData = ExplicitIntegratorDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	Data

Public Types inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
using	Scalar = _Scalar

using	Data = ExplicitDynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
template<typename U>
U *	getDynamics ()

template<typename U>
const U *	getDynamics () const

	ExplicitIntegratorAbstractTpl (const xyz::polymorphic< ODEType > &cont_dynamics)

virtual	~ExplicitIntegratorAbstractTpl ()=default

shared_ptr< Data >	createData () const

virtual void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Compute the Jacobians of the forward dynamics.

virtual void	forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Evaluate the forward discrete dynamics.

int	ndx1 () const

int	ndx2 () 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

Public Attributes
xyz::polymorphic< ODEType >	ode_

int	nu

polymorphic< Manifold >	space_next_

Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
polymorphic< Manifold >	space_

polymorphic< Manifold >	space_next_

int	nu

Additional Inherited Members
Static Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
static constexpr bool	is_explicit = true

Detailed Description

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

Explicit integrators \(x_{k+1} = f(x_k, u_k) \).

This class of integrator mostly applies to integrating ODE models \(\dot{x} = \phi(x,u)\). This class is separate from IntegratorAbstractTpl and not a child class; this ensures there is no diamond inheritance problem.

Definition at line 19 of file integrator-explicit.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 20 of file integrator-explicit.hpp.

◆ ODEType

template<typename _Scalar>

using aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::ODEType = ODEAbstractTpl<Scalar>

Definition at line 21 of file integrator-explicit.hpp.

◆ Base

template<typename _Scalar>

using aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::Base = ExplicitDynamicsModelTpl<Scalar>

Definition at line 22 of file integrator-explicit.hpp.

◆ DerivedData

template<typename _Scalar>

using aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::DerivedData = ExplicitIntegratorDataTpl<Scalar>

Definition at line 24 of file integrator-explicit.hpp.

◆ Manifold

template<typename _Scalar>

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

Definition at line 32 of file integrator-explicit.hpp.

◆ Data

template<typename _Scalar>

using aligator::ExplicitDynamicsModelTpl< Scalar >::Data

Definition at line 24 of file explicit-dynamics.hpp.

Constructor & Destructor Documentation

◆ ExplicitIntegratorAbstractTpl()

template<typename _Scalar>

aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::ExplicitIntegratorAbstractTpl ( const xyz::polymorphic< ODEType > & cont_dynamics )

inlineexplicit

Definition at line 41 of file integrator-explicit.hpp.

◆ ~ExplicitIntegratorAbstractTpl()

template<typename _Scalar>

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

virtualdefault

Member Function Documentation

◆ getDynamics() [1/2]

template<typename _Scalar>

template<typename U>

U * aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::getDynamics ( )

inline

Definition at line 36 of file integrator-explicit.hpp.

◆ getDynamics() [2/2]

template<typename _Scalar>

template<typename U>

const U * aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::getDynamics ( ) const

inline

Definition at line 37 of file integrator-explicit.hpp.

◆ createData()

template<typename _Scalar>

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

inlinevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.

Reimplemented in aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >, and aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >.

Definition at line 48 of file integrator-explicit.hpp.

◆ dForward()

template<typename _Scalar>

virtual void aligator::ExplicitDynamicsModelTpl< Scalar >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

virtual

Compute the Jacobians of the forward dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

Reimplemented in aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >, and aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >.

◆ forward()

template<typename _Scalar>

virtual void aligator::ExplicitDynamicsModelTpl< Scalar >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

virtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

Reimplemented in aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >, and aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >.

◆ ndx1()

template<typename _Scalar>

int aligator::ExplicitDynamicsModelTpl< Scalar >::ndx1 ( ) const

inline

Definition at line 39 of file explicit-dynamics.hpp.

◆ ndx2()

template<typename _Scalar>

int aligator::ExplicitDynamicsModelTpl< Scalar >::ndx2 ( ) const

inline

Definition at line 41 of file explicit-dynamics.hpp.

Member Data Documentation

◆ ode_

template<typename _Scalar>

xyz::polymorphic<ODEType> aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::ode_

Definition at line 34 of file integrator-explicit.hpp.

◆ nu

template<typename _Scalar>

int aligator::ExplicitDynamicsModelTpl< Scalar >::nu

Definition at line 59 of file explicit-dynamics.hpp.

◆ space_next_

template<typename _Scalar>

polymorphic<Manifold> aligator::ExplicitDynamicsModelTpl< Scalar >::space_next_

Definition at line 58 of file explicit-dynamics.hpp.

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

include/aligator/modelling/dynamics/fwd.hpp
include/aligator/modelling/dynamics/integrator-explicit.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ ODEType

◆ Base

◆ DerivedData

◆ Manifold

◆ Data

Constructor & Destructor Documentation

◆ ExplicitIntegratorAbstractTpl()

◆ ~ExplicitIntegratorAbstractTpl()

Member Function Documentation

◆ getDynamics() [1/2]

◆ getDynamics() [2/2]

◆ createData()

◆ dForward()

◆ forward()

◆ ndx1()

◆ ndx2()

Member Data Documentation

◆ ode_

◆ nu

◆ space_next_