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aligator::dynamics::IntegratorMidpointTpl< _Scalar > Struct Template Reference
Midpoint integration rule. More...
#include <aligator/modelling/dynamics/integrator-midpoint.hpp>
Inheritance diagram for aligator::dynamics::IntegratorMidpointTpl< _Scalar >:
Collaboration diagram for aligator::dynamics::IntegratorMidpointTpl< _Scalar >:
Public Types | |
| using | Scalar = _Scalar |
| using | Base = IntegratorAbstractTpl<Scalar> |
| using | ContinuousDynamics = ContinuousDynamicsAbstractTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<Scalar> |
| using | Data = IntegratorMidpointDataTpl<Scalar> |
| using | BaseData = DynamicsDataTpl<Scalar> |
 Public Types inherited from aligator::dynamics::IntegratorAbstractTpl< _Scalar > | |
| using | Scalar = _Scalar |
| using | Base = DynamicsModelTpl<Scalar> |
| using | BaseData = DynamicsDataTpl<Scalar> |
| using | ContinuousDynamics = ContinuousDynamicsAbstractTpl<Scalar> |
| Public Types inherited from aligator::DynamicsModelTpl< _Scalar > | |
| using | Scalar |
| using | Data |
| using | Manifold |
Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| IntegratorMidpointTpl (const xyz::polymorphic< ContinuousDynamics > &cont_dynamics, const Scalar timestep) | |
| 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 |
| shared_ptr< BaseData > | createData () const |
| Public Member Functions inherited from aligator::dynamics::IntegratorAbstractTpl< _Scalar > | |
| template<typename U > | |
| U * | getDynamics () |
| template<typename U > | |
| const U * | getDynamics () const |
| IntegratorAbstractTpl (const xyz::polymorphic< ContinuousDynamics > &cont_dynamics) | |
| Constructor from instances of DynamicsType. | |
| virtual | ~IntegratorAbstractTpl ()=default |
| 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 | isExplicit () const |
| Check if this dynamics model is implicit or explicit. | |
| int | nx1 () const |
| int | nx2 () const |
| DynamicsModelTpl (xyz::polymorphic< Manifold > space, const int nu) | |
| Constructor for dynamics. | |
| DynamicsModelTpl (xyz::polymorphic< Manifold > space, const int nu, xyz::polymorphic< Manifold > space_next) | |
| Constructor for dynamics. This constructor assumes same dimension for the current and next state. | |
| virtual void | evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, Data &) const=0 |
| virtual void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, Data &) const=0 |
| virtual void | computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, const ConstVectorRef &lbda, Data &data) const |
| virtual | ~DynamicsModelTpl ()=default |
Public Attributes | |
| Scalar | timestep_ |
| Public Attributes inherited from aligator::dynamics::IntegratorAbstractTpl< _Scalar > | |
| xyz::polymorphic< ContinuousDynamics > | continuous_dynamics_ |
| The underlying continuous dynamics. | |
| Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar > | |
| xyz::polymorphic< Manifold > | space_ |
| State space for the input. | |
| xyz::polymorphic< Manifold > | space_next_ |
| State space for the output of this dynamics model. | |
| const int | ndx1 |
| State space dimension. | |
| const int | nu |
| Control dimension. | |
| const int | ndx2 |
| Next state space dimension. | |
Detailed Description
template<typename _Scalar>
struct aligator::dynamics::IntegratorMidpointTpl< _Scalar >
struct aligator::dynamics::IntegratorMidpointTpl< _Scalar >
Midpoint integration rule.
The rule is described, for general DAEs, as
\[ \phi(x_k, u_k, x_{k+1}) = g(\hat{x}_0, u_k, \frac{x_{k+1}\ominus x_k}{h}) = 0. \]
where \(\hat{x}_0 = \mathrm{Interp}_{1/2}(x_k, x_{k+1})\). Even for ODEs, it is still an implicit integration rule.
The Jacobians are:
\[ \frac{\partial f}{\partial z} = \frac{\partial g}{\partial \hat{x}_0} \frac{\partial \hat{x}_0}{\partial z} + \frac{\partial g}{\partial z} + \frac{\partial g}{\partial v} \frac{\partial v}{\partial z} \]
Definition at line 28 of file integrator-midpoint.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar >
| using aligator::dynamics::IntegratorMidpointTpl< _Scalar >::Scalar = _Scalar |
Definition at line 29 of file integrator-midpoint.hpp.
◆ Base
template<typename _Scalar >
| using aligator::dynamics::IntegratorMidpointTpl< _Scalar >::Base = IntegratorAbstractTpl<Scalar> |
Definition at line 31 of file integrator-midpoint.hpp.
◆ ContinuousDynamics
template<typename _Scalar >
| using aligator::dynamics::IntegratorMidpointTpl< _Scalar >::ContinuousDynamics = ContinuousDynamicsAbstractTpl<Scalar> |
Definition at line 32 of file integrator-midpoint.hpp.
◆ Manifold
template<typename _Scalar >
| using aligator::dynamics::IntegratorMidpointTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 33 of file integrator-midpoint.hpp.
◆ Data
template<typename _Scalar >
| using aligator::dynamics::IntegratorMidpointTpl< _Scalar >::Data = IntegratorMidpointDataTpl<Scalar> |
Definition at line 34 of file integrator-midpoint.hpp.
◆ BaseData
template<typename _Scalar >
| using aligator::dynamics::IntegratorMidpointTpl< _Scalar >::BaseData = DynamicsDataTpl<Scalar> |
Definition at line 35 of file integrator-midpoint.hpp.
Constructor & Destructor Documentation
◆ IntegratorMidpointTpl()
template<typename _Scalar >
| aligator::dynamics::IntegratorMidpointTpl< _Scalar >::IntegratorMidpointTpl | ( | const xyz::polymorphic< ContinuousDynamics > & | cont_dynamics, |
| const Scalar | timestep ) |
Member Function Documentation
◆ ALIGATOR_DYNAMIC_TYPEDEFS()
template<typename _Scalar >
| aligator::dynamics::IntegratorMidpointTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
◆ evaluate()
template<typename _Scalar >
| void aligator::dynamics::IntegratorMidpointTpl< _Scalar >::evaluate | ( | const ConstVectorRef & | x, |
| const ConstVectorRef & | u, | ||
| const ConstVectorRef & | y, | ||
| BaseData & | data ) const |
◆ computeJacobians()
template<typename _Scalar >
| void aligator::dynamics::IntegratorMidpointTpl< _Scalar >::computeJacobians | ( | const ConstVectorRef & | x, |
| const ConstVectorRef & | u, | ||
| const ConstVectorRef & | y, | ||
| BaseData & | data ) const |
◆ createData()
template<typename _Scalar >
|
virtual |
Reimplemented from aligator::dynamics::IntegratorAbstractTpl< _Scalar >.
Member Data Documentation
◆ timestep_
template<typename _Scalar >
| Scalar aligator::dynamics::IntegratorMidpointTpl< _Scalar >::timestep_ |
Definition at line 37 of file integrator-midpoint.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/dynamics/integrator-midpoint.hpp
