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aligator::dynamics::IntegratorAbstractTpl< _Scalar > Struct Template Reference
Base class for (implicit) numerical integrators. More...
#include <aligator/modelling/dynamics/integrator-abstract.hpp>
Inheritance diagram for aligator::dynamics::IntegratorAbstractTpl< _Scalar >:
Collaboration diagram for aligator::dynamics::IntegratorAbstractTpl< _Scalar >:
Public Types | |
| using | Scalar = _Scalar |
| using | Base = DynamicsModelTpl<Scalar> |
| using | BaseData = DynamicsDataTpl<Scalar> |
| using | ContinuousDynamics = ContinuousDynamicsAbstractTpl<Scalar> |
 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 | |
| IntegratorAbstractTpl (const shared_ptr< ContinuousDynamics > &cont_dynamics) | |
| Constructor from instances of DynamicsType. | |
| virtual | ~IntegratorAbstractTpl ()=default |
| shared_ptr< BaseData > | createData () const |
| Instantiate a Data object. | |
| 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. | |
| virtual bool | is_explicit () const |
| Check if this dynamics model is implicit or explicit. | |
| 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< ContinuousDynamics > | continuous_dynamics_ |
| The underlying continuous dynamics. | |
| 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::IntegratorAbstractTpl< _Scalar >
struct aligator::dynamics::IntegratorAbstractTpl< _Scalar >
Base class for (implicit) numerical integrators.
Numerical integrators are instances DynamicsModelTpl which call into a ContinuousDynamicsAbstractTpl and construct an integration rule. Their aim is to provide a discretization for DAEs
\[ f(x(t), u(t), \dot{x}(t)) = 0 \]
as
\[ \Phi(x_k, u_k, x_{k+1}) = 0. \]
Definition at line 24 of file integrator-abstract.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar >
| using aligator::dynamics::IntegratorAbstractTpl< _Scalar >::Scalar = _Scalar |
Definition at line 26 of file integrator-abstract.hpp.
◆ Base
template<typename _Scalar >
| using aligator::dynamics::IntegratorAbstractTpl< _Scalar >::Base = DynamicsModelTpl<Scalar> |
Definition at line 27 of file integrator-abstract.hpp.
◆ BaseData
template<typename _Scalar >
| using aligator::dynamics::IntegratorAbstractTpl< _Scalar >::BaseData = DynamicsDataTpl<Scalar> |
Definition at line 28 of file integrator-abstract.hpp.
◆ ContinuousDynamics
template<typename _Scalar >
| using aligator::dynamics::IntegratorAbstractTpl< _Scalar >::ContinuousDynamics = ContinuousDynamicsAbstractTpl<Scalar> |
Definition at line 29 of file integrator-abstract.hpp.
Constructor & Destructor Documentation
◆ IntegratorAbstractTpl()
template<typename _Scalar >
|
explicit |
Constructor from instances of DynamicsType.
◆ ~IntegratorAbstractTpl()
template<typename _Scalar >
|
virtualdefault |
Member Function Documentation
◆ createData()
template<typename _Scalar >
|
virtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Reimplemented in aligator::dynamics::IntegratorMidpointTpl< _Scalar >.
Member Data Documentation
◆ continuous_dynamics_
template<typename _Scalar >
| shared_ptr<ContinuousDynamics> aligator::dynamics::IntegratorAbstractTpl< _Scalar >::continuous_dynamics_ |
The underlying continuous dynamics.
Definition at line 32 of file integrator-abstract.hpp.
The documentation for this struct was generated from the following files:
- include/aligator/modelling/dynamics/fwd.hpp
- include/aligator/modelling/dynamics/integrator-abstract.hpp
