aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear 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 | DynData = DynamicsDataTpl<Scalar> |
using | Data = ExplicitDynamicsDataTpl<Scalar> |
using | VectorSpaceType |
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using | Scalar = _Scalar |
using | Base = DynamicsModelTpl<Scalar> |
using | BaseData = DynamicsDataTpl<Scalar> |
using | Data = ExplicitDynamicsDataTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
using | ManifoldPtr = shared_ptr<Manifold> |
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using | Scalar = _Scalar |
using | Base = StageFunctionTpl<Scalar> |
using | Data = DynamicsDataTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
using | ManifoldPtr = shared_ptr<Manifold> |
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using | Scalar = _Scalar |
using | Data = StageFunctionDataTpl<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< DynData > | createData () const |
Instantiate a Data object. | |
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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 |
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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. | |
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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 | |
const MatrixXs | A_ |
const MatrixXs | B_ |
const VectorXs | c_ |
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ManifoldPtr | space_ |
State space for the input. | |
ManifoldPtr | space_next_ |
State space for the output of this dynamics model. | |
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const int | ndx1 |
Current state dimension. | |
const int | nu |
Control dimension. | |
const int | ndx2 |
Next state dimension. | |
const int | nr |
Function codimension. | |
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 >::DynData = DynamicsDataTpl<Scalar> |
Definition at line 20 of file linear-discrete-dynamics.hpp.
using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::Data = ExplicitDynamicsDataTpl<Scalar> |
Definition at line 21 of file linear-discrete-dynamics.hpp.
using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::VectorSpaceType |
Definition at line 22 of file linear-discrete-dynamics.hpp.
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inline |
Constructor with state manifold and matrices.
Definition at line 26 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 36 of file linear-discrete-dynamics.hpp.
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inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.
Definition at line 38 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.