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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 | 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) | |
| 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< BaseData > | 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 |
| 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 Manifold & | space () const |
| const Manifold & | space_next () const |
| int | nx1 () const |
| int | ndx1 () const |
| int | nx2 () const |
| int | ndx2 () const |
| virtual | ~ExplicitDynamicsModelTpl ()=default |
Public Attributes | |
| Scalar | timestep_ |
| Public Attributes inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar > | |
| xyz::polymorphic< ODEType > | ode_ |
| int | nu |
| polymorphic< Manifold > | space_next_ |
| Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar > | |
| polymorphic< Manifold > | space_ |
| polymorphic< Manifold > | space_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::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.
Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.
◆ dForward()
template<typename _Scalar>
|
virtual |
Compute the Jacobians of the forward dynamics.
Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.
◆ createData()
template<typename _Scalar>
|
inlinevirtual |
Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.
Definition at line 36 of file integrator-rk2.hpp.
Member Data Documentation
◆ timestep_
template<typename _Scalar>
| Scalar aligator::dynamics::IntegratorRK2Tpl< _Scalar >::timestep_ |
Definition at line 27 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
