aligator::dynamics::ODEAbstractTpl< _Scalar > Struct Template Reference

Base class for ODE dynamics \( \dot{x} = f(x, u) \). More...

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

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

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

Public Types
using	Scalar = _Scalar
using	Base = ContinuousDynamicsAbstractTpl<Scalar>
using	Data = ContinuousDynamicsDataTpl<Scalar>
Public Types inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
using	Scalar = _Scalar
using	Manifold = ManifoldAbstractTpl<Scalar>
using	ManifoldPtr = xyz::polymorphic<Manifold>
using	Data = ContinuousDynamicsDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
virtual	~ODEAbstractTpl ()=default
virtual void	forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Evaluate the ODE vector field: this returns the value of \(\dot{x}\).
virtual void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Evaluate the vector field Jacobians.
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
	Differentiate the vector field.
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 shared_ptr< Data >	createData () const
	Create a data holder instance.

Public Attributes
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::ODEAbstractTpl< _Scalar >

Base class for ODE dynamics \( \dot{x} = f(x, u) \).

Formulated as a DAE (for ContinuousDynamicsAbstractTpl), this class models

\[ f(x, u) - \dot{x}. \]

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

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 16 of file ode-abstract.hpp.

Base

template<typename _Scalar>

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

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

Data

template<typename _Scalar>

using aligator::dynamics::ODEAbstractTpl< _Scalar >::Data = ContinuousDynamicsDataTpl<Scalar>

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

Constructor & Destructor Documentation

~ODEAbstractTpl()

template<typename _Scalar>

virtual aligator::dynamics::ODEAbstractTpl< _Scalar >::~ODEAbstractTpl ( )

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::ODEAbstractTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

virtual void aligator::dynamics::ODEAbstractTpl< _Scalar >::forward ( const ConstVectorRef & x, const ConstVectorRef & u, Data & data ) const

pure virtual

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

Implemented in aligator::dynamics::CentroidalFwdDynamicsTpl< _Scalar >, aligator::dynamics::CentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::CentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >, aligator::dynamics::LinearODETpl< _Scalar >, aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >, aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >, aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >, aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< Scalar >, aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< Scalar >, and aligator::python::PyODEAbstract< T >.

dForward()

template<typename _Scalar>

virtual void aligator::dynamics::ODEAbstractTpl< _Scalar >::dForward ( const ConstVectorRef & x, const ConstVectorRef & u, Data & data ) const

pure virtual

Evaluate the vector field Jacobians.

Implemented in aligator::dynamics::CentroidalFwdDynamicsTpl< _Scalar >, aligator::dynamics::CentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::CentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< Scalar >, aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >, aligator::dynamics::LinearODETpl< _Scalar >, aligator::dynamics::MultibodyConstraintFwdDynamicsTpl< _Scalar >, aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >, aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >, aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< Scalar >, aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< Scalar >, and aligator::python::PyODEAbstract< T >.

evaluate()

template<typename _Scalar>

void aligator::dynamics::ODEAbstractTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & xdot, Data & data ) const

overridevirtual

Declare overrides

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

computeJacobians()

template<typename _Scalar>

void aligator::dynamics::ODEAbstractTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & xdot, Data & data ) const

overridevirtual

Differentiate the vector field.

Parameters

	x	The input state variable.
	u	The input control variable.
	xdot	Derivative of the state.
[out]	data	The output data object.

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

Member Data Documentation

nu_

template<typename _Scalar>

const int aligator::dynamics::ContinuousDynamicsAbstractTpl< Scalar >::nu_

Control space dimension.

Definition at line 29 of file continuous-dynamics-abstract.hpp.

space_

template<typename _Scalar>

ManifoldPtr aligator::dynamics::ContinuousDynamicsAbstractTpl< Scalar >::space_

State space.

Definition at line 27 of file continuous-dynamics-abstract.hpp.

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

• include/aligator/modelling/dynamics/fwd.hpp
• include/aligator/modelling/dynamics/ode-abstract.hpp