Linear ordinary differential equation \(\dot{x} = Ax + Bu\). More...

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

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

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

Public Types
using	Scalar = _Scalar

using	Base = ODEAbstractTpl<Scalar>

using	ODEData = ContinuousDynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = xyz::polymorphic<Manifold>

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

using	Base = ContinuousDynamicsAbstractTpl<Scalar>

using	Data = ContinuousDynamicsDataTpl<Scalar>

Public Types inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
using	Scalar

using	Manifold

using	ManifoldPtr

using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	LinearODETpl (const ManifoldPtr &space, const MatrixXs &A, const MatrixXs &B, const VectorXs &c)
	Standard constructor with state space, matrices \(A,B\) and constant term \(c\).

	LinearODETpl (const MatrixXs &A, const MatrixXs &B, const VectorXs &c)

void	forward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const
	Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const
	Evaluate the vector field Jacobians.

virtual shared_ptr< ContinuousDynamicsDataTpl< Scalar > >	createData () const
	Create a data holder instance.

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

virtual	~ODEAbstractTpl ()=default

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override

Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)

int	ndx () const

int	nu () const

const Manifold &	space () const
	Return a reference to the state space.

	ContinuousDynamicsAbstractTpl (ManifoldPtr space, const int nu)

virtual	~ContinuousDynamicsAbstractTpl ()=default

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const=0
	Evaluate the vector field at a point \((x, u)\).

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const=0
	Differentiate the vector field.

Public Attributes
MatrixXs	A_

MatrixXs	B_

VectorXs	c_

Public Attributes inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
const int	nu_
	Control space dimension.

ManifoldPtr	space_
	State space.

Public Attributes inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
ManifoldPtr	space_
	State space.

const int	nu_
	Control space dimension.

Detailed Description

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

Linear ordinary differential equation \(\dot{x} = Ax + Bu\).

This equation may be defined over a manifold's tangent space.

Definition at line 14 of file linear-ode.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

Definition at line 15 of file linear-ode.hpp.

◆ Base

template<typename _Scalar >

using aligator::dynamics::LinearODETpl< _Scalar >::Base = ODEAbstractTpl<Scalar>

Definition at line 17 of file linear-ode.hpp.

◆ ODEData

template<typename _Scalar >

using aligator::dynamics::LinearODETpl< _Scalar >::ODEData = ContinuousDynamicsDataTpl<Scalar>

Definition at line 18 of file linear-ode.hpp.

◆ Manifold

template<typename _Scalar >

using aligator::dynamics::LinearODETpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 19 of file linear-ode.hpp.

◆ ManifoldPtr

template<typename _Scalar >

using aligator::dynamics::LinearODETpl< _Scalar >::ManifoldPtr = xyz::polymorphic<Manifold>

Definition at line 20 of file linear-ode.hpp.

Constructor & Destructor Documentation

◆ LinearODETpl() [1/2]

template<typename _Scalar >

aligator::dynamics::LinearODETpl< _Scalar >::LinearODETpl	(	const ManifoldPtr &	space,
		const MatrixXs &	A,
		const MatrixXs &	B,
		const VectorXs &	c )

inline

Standard constructor with state space, matrices \(A,B\) and constant term \(c\).

Definition at line 27 of file linear-ode.hpp.

◆ LinearODETpl() [2/2]

template<typename _Scalar >

aligator::dynamics::LinearODETpl< _Scalar >::LinearODETpl	(	const MatrixXs &	A,
		const MatrixXs &	B,
		const VectorXs &	c )

inline

Constructor matrices \(A,B\) and constant term \(c\). The state space is inferred to be a vector space.

Definition at line 46 of file linear-ode.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

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

◆ forward()

template<typename _Scalar >

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

virtual

Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.

◆ dForward()

template<typename _Scalar >

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

virtual

Evaluate the vector field Jacobians.

Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual shared_ptr< ContinuousDynamicsDataTpl< Scalar > > aligator::dynamics::LinearODETpl< _Scalar >::createData ( ) const

inlinevirtual

Create a data holder instance.

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

Definition at line 55 of file linear-ode.hpp.

Member Data Documentation

◆ A_

template<typename _Scalar >

MatrixXs aligator::dynamics::LinearODETpl< _Scalar >::A_

Definition at line 22 of file linear-ode.hpp.

◆ B_

template<typename _Scalar >

MatrixXs aligator::dynamics::LinearODETpl< _Scalar >::B_

Definition at line 22 of file linear-ode.hpp.

◆ c_

template<typename _Scalar >

VectorXs aligator::dynamics::LinearODETpl< _Scalar >::c_

Definition at line 23 of file linear-ode.hpp.

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

include/aligator/modelling/dynamics/linear-ode.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ ODEData

◆ Manifold

◆ ManifoldPtr

Constructor & Destructor Documentation

◆ LinearODETpl() [1/2]

◆ LinearODETpl() [2/2]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ forward()

◆ dForward()

◆ createData()

Member Data Documentation

◆ A_

◆ B_

◆ c_