aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::dynamics::IntegratorEulerTpl< _Scalar > Struct Template Reference

Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\). More...

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

Inheritance diagram for aligator::dynamics::IntegratorEulerTpl< _Scalar >:
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Collaboration diagram for aligator::dynamics::IntegratorEulerTpl< _Scalar >:
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Public Types

using Scalar = _Scalar
 
using Base = ExplicitIntegratorAbstractTpl<Scalar>
 
using Data = ExplicitIntegratorDataTpl<Scalar>
 
using ODEType = ODEAbstractTpl<Scalar>
 
using ODEData = ContinuousDynamicsDataTpl<Scalar>
 
- Public Types inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
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

 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
 IntegratorEulerTpl (const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
 
void forward (const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
 
void dForward (const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
 
- Public Member Functions inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
template<typename U>
U * getDynamics ()
 
template<typename U>
const U * getDynamics () const
 
 ExplicitIntegratorAbstractTpl (const xyz::polymorphic< ODEType > &cont_dynamics)
 
virtual ~ExplicitIntegratorAbstractTpl ()=default
 
shared_ptr< DatacreateData () 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 Manifoldspace () const
 
const Manifoldspace_next () const
 
int nx1 () const
 
int ndx1 () const
 
int nx2 () const
 
int ndx2 () const
 
virtual ~ExplicitDynamicsModelTpl ()=default
 

Public Attributes

Scalar timestep_
 Integration time step \(h\).
 
- Public Attributes inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
xyz::polymorphic< ODETypeode_
 
int nu
 
polymorphic< Manifoldspace_next_
 
- Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
polymorphic< Manifoldspace_
 
polymorphic< Manifoldspace_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::IntegratorEulerTpl< _Scalar >

Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\).

Definition at line 14 of file integrator-euler.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::dynamics::IntegratorEulerTpl< _Scalar >::Scalar = _Scalar

Definition at line 15 of file integrator-euler.hpp.

◆ Base

template<typename _Scalar>
using aligator::dynamics::IntegratorEulerTpl< _Scalar >::Base = ExplicitIntegratorAbstractTpl<Scalar>

Definition at line 17 of file integrator-euler.hpp.

◆ Data

template<typename _Scalar>
using aligator::dynamics::IntegratorEulerTpl< _Scalar >::Data = ExplicitIntegratorDataTpl<Scalar>

Definition at line 18 of file integrator-euler.hpp.

◆ ODEType

template<typename _Scalar>
using aligator::dynamics::IntegratorEulerTpl< _Scalar >::ODEType = ODEAbstractTpl<Scalar>

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

◆ ODEData

template<typename _Scalar>
using aligator::dynamics::IntegratorEulerTpl< _Scalar >::ODEData = ContinuousDynamicsDataTpl<Scalar>

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

Constructor & Destructor Documentation

◆ IntegratorEulerTpl()

template<typename _Scalar>
aligator::dynamics::IntegratorEulerTpl< _Scalar >::IntegratorEulerTpl ( const xyz::polymorphic< ODEType > & cont_dynamics,
const Scalar timestep )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>
aligator::dynamics::IntegratorEulerTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ forward()

template<typename _Scalar>
void aligator::dynamics::IntegratorEulerTpl< _Scalar >::forward ( const ConstVectorRef & x,
const ConstVectorRef & u,
ExplicitDynamicsDataTpl< Scalar > & data ) const

◆ dForward()

template<typename _Scalar>
void aligator::dynamics::IntegratorEulerTpl< _Scalar >::dForward ( const ConstVectorRef & x,
const ConstVectorRef & u,
ExplicitDynamicsDataTpl< Scalar > & data ) const

Member Data Documentation

◆ timestep_

template<typename _Scalar>
Scalar aligator::dynamics::IntegratorEulerTpl< _Scalar >::timestep_

Integration time step \(h\).

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


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