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

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

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

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

Public Types
using	Scalar = _Scalar

using	Base = ExplicitIntegratorAbstractTpl<Scalar>

using	BaseData = ExplicitDynamicsDataTpl<Scalar>

using	Data = IntegratorSemiImplDataTpl<Scalar>

using	ODEType = ODEAbstractTpl<Scalar>

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 = shared_ptr<Manifold>

Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
using	Scalar = _Scalar

using	Base = StageFunctionTpl<Scalar>

using	Data = DynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	IntegratorSemiImplEulerTpl (const shared_ptr< 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< StageFunctionDataTpl< Scalar > >	createData () const
	Instantiate a Data object.

Public Member Functions inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
	ExplicitIntegratorAbstractTpl (const shared_ptr< 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	is_explicit () const
	Check if this dynamics model is implicit or explicit.

	ExplicitDynamicsModelTpl (ManifoldPtr next_state, const int nu)
	Constructor requires providing the next state's manifold.

virtual	~ExplicitDynamicsModelTpl ()=default

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

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 (ManifoldPtr space, const int nu)
	Constructor for dynamics.

	DynamicsModelTpl (ManifoldPtr space, const int nu, ManifoldPtr space2)
	Constructor for dynamics. This constructor assumes same dimension for the current and next state.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)

	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Evaluate the function.

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Compute Jacobians of this function.

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.

virtual	~StageFunctionTpl ()=default

Public Attributes
Scalar	timestep_
	Integration time step \(h\).

Public Attributes inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
shared_ptr< ODEType >	ode_

Public Attributes inherited from aligator::DynamicsModelTpl< _Scalar >
ManifoldPtr	space_
	State space for the input.

ManifoldPtr	space_next_
	State space for the output of this dynamics model.

Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state dimension.

const int	nr
	Function codimension.

Detailed Description

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

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

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

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

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

◆ Base

template<typename _Scalar >

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

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

◆ BaseData

template<typename _Scalar >

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

Definition at line 21 of file integrator-semi-euler.hpp.

◆ Data

template<typename _Scalar >

using aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >::Data = IntegratorSemiImplDataTpl<Scalar>

Definition at line 22 of file integrator-semi-euler.hpp.

◆ ODEType

template<typename _Scalar >

using aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >::ODEType = ODEAbstractTpl<Scalar>

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

Constructor & Destructor Documentation

◆ IntegratorSemiImplEulerTpl()

template<typename _Scalar >

aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >::IntegratorSemiImplEulerTpl	(	const shared_ptr< ODEType > &	cont_dynamics,
		const Scalar	timestep )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ forward()

template<typename _Scalar >

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

virtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

◆ dForward()

template<typename _Scalar >

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

virtual

Compute the Jacobians of the forward dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

shared_ptr< StageFunctionDataTpl< Scalar > > aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

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

Definition at line 38 of file integrator-semi-euler.hpp.

Member Data Documentation

◆ timestep_

template<typename _Scalar >

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

Integration time step \(h\).

Definition at line 27 of file integrator-semi-euler.hpp.

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

include/aligator/modelling/dynamics/fwd.hpp
include/aligator/modelling/dynamics/integrator-semi-euler.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ Data

◆ ODEType

Constructor & Destructor Documentation

◆ IntegratorSemiImplEulerTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ forward()

◆ dForward()

◆ createData()

Member Data Documentation

◆ timestep_