aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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Discrete explicit linear dynamics. More...
#include <aligator/modelling/linear-discrete-dynamics.hpp>
Public Types | |
using | Scalar = _Scalar |
using | Base = ExplicitDynamicsModelTpl<Scalar> |
using | Data = ExplicitDynamicsDataTpl<Scalar> |
using | VectorSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic> |
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using | Scalar = _Scalar |
using | Data = ExplicitDynamicsDataTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
LinearDiscreteDynamicsTpl (const MatrixXs &A, const MatrixXs &B, const VectorXs &c) | |
Constructor with state manifold and matrices. | |
void | forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const |
Evaluate the forward discrete dynamics. | |
void | dForward (const ConstVectorRef &, const ConstVectorRef &, Data &) const |
Compute the Jacobians of the forward dynamics. | |
shared_ptr< Data > | createData () const |
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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 | |
const MatrixXs | A_ |
const MatrixXs | B_ |
const VectorXs | c_ |
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polymorphic< Manifold > | space_ |
polymorphic< Manifold > | space_next_ |
int | nu |
Additional Inherited Members | |
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static constexpr bool | is_explicit = true |
Discrete explicit linear dynamics.
Definition at line 12 of file linear-discrete-dynamics.hpp.
using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::Scalar = _Scalar |
Definition at line 13 of file linear-discrete-dynamics.hpp.
using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::Base = ExplicitDynamicsModelTpl<Scalar> |
Definition at line 19 of file linear-discrete-dynamics.hpp.
using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::Data = ExplicitDynamicsDataTpl<Scalar> |
Definition at line 20 of file linear-discrete-dynamics.hpp.
using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::VectorSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic> |
Definition at line 21 of file linear-discrete-dynamics.hpp.
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inline |
Constructor with state manifold and matrices.
Definition at line 24 of file linear-discrete-dynamics.hpp.
aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlinevirtual |
Evaluate the forward discrete dynamics.
Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.
Definition at line 31 of file linear-discrete-dynamics.hpp.
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inlinevirtual |
Compute the Jacobians of the forward dynamics.
Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.
Definition at line 38 of file linear-discrete-dynamics.hpp.
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inlinevirtual |
Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.
Definition at line 40 of file linear-discrete-dynamics.hpp.
const MatrixXs aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::A_ |
Definition at line 15 of file linear-discrete-dynamics.hpp.
const MatrixXs aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::B_ |
Definition at line 16 of file linear-discrete-dynamics.hpp.
const VectorXs aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::c_ |
Definition at line 17 of file linear-discrete-dynamics.hpp.