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

Data class for numerical integrators (IntegratorAbstractTpl). More...

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

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

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

Public Types
using	Scalar = _Scalar
using	Base = DynamicsDataTpl<Scalar>
using	VectorXs = typename math_types<Scalar>::VectorXs
Public Types inherited from aligator::DynamicsDataTpl< _Scalar >
using	Scalar = _Scalar

Public Member Functions
	IntegratorDataTpl (const IntegratorAbstractTpl< Scalar > &integrator)
virtual	~IntegratorDataTpl ()=default
Public Member Functions inherited from aligator::DynamicsDataTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	DynamicsDataTpl (const DynamicsModelTpl< Scalar > &model)
	DynamicsDataTpl (const int ndx1, const int nu, const int ndx2)
virtual	~DynamicsDataTpl ()=default

Public Attributes
shared_ptr< ContinuousDynamicsDataTpl< Scalar > >	continuous_data
VectorXs	xdot_
	Value of the time-derivative to use in the integration rule.
MatrixXs	Huu_
MatrixXs	Huy_
MatrixXs	Hxu_
MatrixXs	Hxx_
MatrixXs	Hxy_
MatrixXs	Hyy_
MatrixRef	Ju_
	Jacobian with respect to \(u\).
MatrixRef	Jx_
	Jacobian with respect to \(x\).
MatrixRef	Jy_
	Jacobian with respect to \(y\).
VectorXs	value_
	Function value.
Public Attributes inherited from aligator::DynamicsDataTpl< _Scalar >
const int	ndx1
const int	nu
const int	ndx2
const int	nvar = ndx1 + nu + ndx2
	Total number of variables.
VectorXs	value_
	Function value.
VectorRef	valref_
MatrixXs	jac_buffer_
	Full Jacobian.
MatrixRef	Jx_
	Jacobian with respect to \(x\).
MatrixRef	Ju_
	Jacobian with respect to \(u\).
MatrixRef	Jy_
	Jacobian with respect to \(y\).
MatrixXs	Hxx_
MatrixXs	Hxu_
MatrixXs	Hxy_
MatrixXs	Huu_
MatrixXs	Huy_
MatrixXs	Hyy_

Detailed Description

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

Data class for numerical integrators (IntegratorAbstractTpl).

Definition at line 50 of file integrator-abstract.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 51 of file integrator-abstract.hpp.

Base

template<typename _Scalar>

using aligator::dynamics::IntegratorDataTpl< _Scalar >::Base = DynamicsDataTpl<Scalar>

Definition at line 52 of file integrator-abstract.hpp.

VectorXs

template<typename _Scalar>

using aligator::dynamics::IntegratorDataTpl< _Scalar >::VectorXs = typename math_types<Scalar>::VectorXs

Definition at line 53 of file integrator-abstract.hpp.

Constructor & Destructor Documentation

IntegratorDataTpl()

template<typename _Scalar>

aligator::dynamics::IntegratorDataTpl< _Scalar >::IntegratorDataTpl ( const IntegratorAbstractTpl< Scalar > & integrator )

explicit

~IntegratorDataTpl()

template<typename _Scalar>

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

virtualdefault

Member Data Documentation

continuous_data

template<typename _Scalar>

shared_ptr<ContinuousDynamicsDataTpl<Scalar> > aligator::dynamics::IntegratorDataTpl< _Scalar >::continuous_data

Definition at line 54 of file integrator-abstract.hpp.

xdot_

template<typename _Scalar>

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

Value of the time-derivative to use in the integration rule.

Definition at line 68 of file integrator-abstract.hpp.

Huu_

template<typename _Scalar>

MatrixXs aligator::DynamicsDataTpl< Scalar >::Huu_

Definition at line 104 of file dynamics.hpp.

Huy_

template<typename _Scalar>

MatrixXs aligator::DynamicsDataTpl< Scalar >::Huy_

Definition at line 105 of file dynamics.hpp.

Hxu_

template<typename _Scalar>

MatrixXs aligator::DynamicsDataTpl< Scalar >::Hxu_

Definition at line 102 of file dynamics.hpp.

Hxx_

template<typename _Scalar>

MatrixXs aligator::DynamicsDataTpl< Scalar >::Hxx_

Definition at line 101 of file dynamics.hpp.

Hxy_

template<typename _Scalar>

MatrixXs aligator::DynamicsDataTpl< Scalar >::Hxy_

Definition at line 103 of file dynamics.hpp.

Hyy_

template<typename _Scalar>

MatrixXs aligator::DynamicsDataTpl< Scalar >::Hyy_

Definition at line 106 of file dynamics.hpp.

Ju_

template<typename _Scalar>

MatrixRef aligator::DynamicsDataTpl< Scalar >::Ju_

Jacobian with respect to \(u\).

Definition at line 95 of file dynamics.hpp.

Jx_

template<typename _Scalar>

MatrixRef aligator::DynamicsDataTpl< Scalar >::Jx_

Jacobian with respect to \(x\).

Definition at line 93 of file dynamics.hpp.

Jy_

template<typename _Scalar>

MatrixRef aligator::DynamicsDataTpl< Scalar >::Jy_

Jacobian with respect to \(y\).

Definition at line 97 of file dynamics.hpp.

value_

template<typename _Scalar>

VectorXs aligator::DynamicsDataTpl< Scalar >::value_

Function value.

Definition at line 88 of file dynamics.hpp.

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

• include/aligator/modelling/dynamics/fwd.hpp
• include/aligator/modelling/dynamics/integrator-abstract.hpp