aligator::dynamics::IntegratorRK2Tpl< _Scalar > Struct Template Reference

Second-order Runge-Kutta integrator. More...

#include <aligator/modelling/dynamics/integrator-rk2.hpp>

Inheritance diagram for aligator::dynamics::IntegratorRK2Tpl< _Scalar >:

Collaboration diagram for aligator::dynamics::IntegratorRK2Tpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = ExplicitIntegratorAbstractTpl<Scalar>
using	BaseData = ExplicitDynamicsDataTpl<Scalar>
using	Data = IntegratorRK2DataTpl<Scalar>
using	ODEType = typename Base::ODEType
Public Types inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
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
using	Base
using	BaseData
using	Data
using	Manifold
using	ManifoldPtr
Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
using	Scalar
using	Data
using	Manifold

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	IntegratorRK2Tpl (const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
shared_ptr< DynamicsDataTpl< Scalar > >	createData () 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
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	isExplicit () const
	Check if this dynamics model is implicit or explicit.
	ExplicitDynamicsModelTpl (const ManifoldPtr &space, 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.
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 (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	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::ExplicitIntegratorAbstractTpl< _Scalar >
xyz::polymorphic< ODEType >	ode_
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.

Protected Attributes
Scalar	dt_2_ = 0.5 * timestep_

Detailed Description

template<typename _Scalar>
struct aligator::dynamics::IntegratorRK2Tpl< _Scalar >

Second-order Runge-Kutta integrator.

\begin{eqnarray*} x_{k+1} = x_k \oplus h f(x^{(1)}, u_k),\\ x^{(1)} = x_k \oplus \frac h2 f(x_k, u_k) \end{eqnarray*}

Definition at line 19 of file integrator-rk2.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::Scalar = _Scalar

Definition at line 20 of file integrator-rk2.hpp.

Base

template<typename _Scalar >

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::Base = ExplicitIntegratorAbstractTpl<Scalar>

Definition at line 22 of file integrator-rk2.hpp.

BaseData

template<typename _Scalar >

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::BaseData = ExplicitDynamicsDataTpl<Scalar>

Definition at line 23 of file integrator-rk2.hpp.

Data

template<typename _Scalar >

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::Data = IntegratorRK2DataTpl<Scalar>

Definition at line 24 of file integrator-rk2.hpp.

ODEType

template<typename _Scalar >

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::ODEType = typename Base::ODEType

Definition at line 25 of file integrator-rk2.hpp.

Constructor & Destructor Documentation

IntegratorRK2Tpl()

template<typename _Scalar >

aligator::dynamics::IntegratorRK2Tpl< _Scalar >::IntegratorRK2Tpl	(	const xyz::polymorphic< ODEType > &	cont_dynamics,
		const Scalar	timestep )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::dynamics::IntegratorRK2Tpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar >

void aligator::dynamics::IntegratorRK2Tpl< _Scalar >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const

dForward()

template<typename _Scalar >

void aligator::dynamics::IntegratorRK2Tpl< _Scalar >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const

createData()

template<typename _Scalar >

shared_ptr< DynamicsDataTpl< Scalar > > aligator::dynamics::IntegratorRK2Tpl< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.

Definition at line 37 of file integrator-rk2.hpp.

Member Data Documentation

timestep_

template<typename _Scalar >

Scalar aligator::dynamics::IntegratorRK2Tpl< _Scalar >::timestep_

Definition at line 28 of file integrator-rk2.hpp.

dt_2_

template<typename _Scalar >

Scalar aligator::dynamics::IntegratorRK2Tpl< _Scalar >::dt_2_ = 0.5 * timestep_

protected

Definition at line 42 of file integrator-rk2.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-rk2.hpp