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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 = _Scalar |
| using | Base = DynamicsModelTpl<Scalar> |
| using | BaseData = DynamicsDataTpl<Scalar> |
| using | Data = ExplicitDynamicsDataTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<Scalar> |
| using | ManifoldPtr = xyz::polymorphic<Manifold> |
| Public Types inherited from aligator::DynamicsModelTpl< _Scalar > | |
| using | Scalar = _Scalar |
| using | Data = DynamicsDataTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<Scalar> |
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 |
| Evaluate the forward discrete dynamics. | |
| void | dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const |
| Compute the Jacobians of the forward dynamics. | |
| 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 |
| 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 >
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>
|
virtual |
Evaluate the forward discrete dynamics.
Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.
◆ dForward()
template<typename _Scalar>
|
virtual |
Compute the Jacobians of the forward dynamics.
Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.
◆ createData()
template<typename _Scalar>
|
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>
|
protected |
Definition at line 42 of file integrator-rk2.hpp.
The documentation for this struct was generated from the following files:
- include/aligator/modelling/dynamics/fwd.hpp
- include/aligator/modelling/dynamics/integrator-rk2.hpp
