Discrete explicit linear dynamics. More...

#include <aligator/modelling/linear-discrete-dynamics.hpp>

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

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

Public Types
using	Scalar = _Scalar

using	Base = ExplicitDynamicsModelTpl<Scalar>

using	DynData = DynamicsDataTpl<Scalar>

using	Data = ExplicitDynamicsDataTpl<Scalar>

using	VectorSpaceType

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)

	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

void	dForward (const ConstVectorRef &, const ConstVectorRef &, Data &) const

shared_ptr< DynData >	createData () 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.

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 (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
const MatrixXs	A_

const MatrixXs	B_

const VectorXs	c_

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.