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	Data = ExplicitIntegratorDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

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

using	Base = DynamicsModelTpl<Scalar>

using	BaseData = DynamicsDataTpl<Scalar>

using	Data = ExplicitDynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

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

using	Base = StageFunctionTpl<Scalar>

using	Data = DynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

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

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ExplicitIntegratorAbstractTpl (const shared_ptr< ODEType > &cont_dynamics)

virtual	~ExplicitIntegratorAbstractTpl ()=default

shared_ptr< DynamicsDataTpl< Scalar > >	createData () const
	Instantiate a Data object.

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const

Public Member Functions inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

bool	is_explicit () const
	Check if this dynamics model is implicit or explicit.

	ExplicitDynamicsModelTpl (ManifoldPtr next_state, const int nu)
	Constructor requires providing the next state's manifold.

virtual	~ExplicitDynamicsModelTpl ()=default

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

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

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const

Public Member Functions inherited from aligator::DynamicsModelTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

const Manifold &	space () const
	State space for the input.

const Manifold &	space_next () const
	State space for the output of this dynamics model.

int	nx1 () const

int	nx2 () const

	DynamicsModelTpl (ManifoldPtr space, const int nu)
	Constructor for dynamics.

	DynamicsModelTpl (ManifoldPtr space, const int nu, ManifoldPtr space2)
	Constructor for dynamics. This constructor assumes same dimension for the current and next state.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)

	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Evaluate the function.

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Compute Jacobians of this function.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Attributes
shared_ptr< ODEType >	ode_

Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar >
ManifoldPtr	space_
	State space for the input.

ManifoldPtr	space_next_
	State space for the output of this dynamics model.

Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state dimension.

const int	nr
	Function codimension.

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.

◆ Data

template<typename _Scalar >

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

Definition at line 23 of file integrator-explicit.hpp.

◆ Manifold

template<typename _Scalar >

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

Definition at line 31 of file integrator-explicit.hpp.

Constructor & Destructor Documentation

◆ ExplicitIntegratorAbstractTpl()

template<typename _Scalar >

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

explicit

◆ ~ExplicitIntegratorAbstractTpl()

template<typename _Scalar >

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

virtualdefault

Member Function Documentation

◆ createData()

template<typename _Scalar >

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

virtual

Instantiate a Data object.

Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.

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

◆ computeJacobians()

template<typename _Scalar >

void aligator::ExplicitDynamicsModelTpl< _Scalar >::computeJacobians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		BaseData &	data ) const

◆ evaluate()

template<typename _Scalar >

void aligator::ExplicitDynamicsModelTpl< _Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		BaseData &	data ) const

Member Data Documentation

◆ ode_

template<typename _Scalar >

shared_ptr<ODEType> aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >::ode_

Definition at line 33 of file integrator-explicit.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

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ ODEType

◆ Base

◆ Data

◆ Manifold

Constructor & Destructor Documentation

◆ ExplicitIntegratorAbstractTpl()

◆ ~ExplicitIntegratorAbstractTpl()

Member Function Documentation

◆ createData()

◆ computeJacobians()

◆ evaluate()

Member Data Documentation

◆ ode_