aligator
0.15.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/modelling/dynamics/wheeled-inverted-pendulum.hpp>
Public Types | |
using | Scalar = _Scalar |
using | Base = dynamics::ODEAbstractTpl<Scalar> |
using | ODEData = dynamics::ContinuousDynamicsDataTpl<Scalar> |
using | VectorSpace = aligator::VectorSpaceTpl<Scalar, 7> |
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using | Scalar = _Scalar |
using | Base = ContinuousDynamicsAbstractTpl<Scalar> |
using | Data = ContinuousDynamicsDataTpl<Scalar> |
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using | Scalar = _Scalar |
using | Manifold = ManifoldAbstractTpl<Scalar> |
using | ManifoldPtr = xyz::polymorphic<Manifold> |
using | Data = ContinuousDynamicsDataTpl<Scalar> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
WheeledInvertedPendulumDynamicsTpl (const double gravity, const double length) | |
void | forward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const override |
Evaluate the ODE vector field: this returns the value of \(\dot{x}\). | |
void | dForward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const override |
Evaluate the vector field Jacobians. | |
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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 |
Differentiate the vector field. | |
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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 | |
double | length_ |
double | gravity_ |
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const int | nu_ |
Control space dimension. | |
ManifoldPtr | space_ |
State space. | |
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ManifoldPtr | space_ |
State space. | |
const int | nu_ |
Control space dimension. | |
Definition at line 8 of file wheeled-inverted-pendulum.hpp.
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::Scalar = _Scalar |
Definition at line 9 of file wheeled-inverted-pendulum.hpp.
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::Base = dynamics::ODEAbstractTpl<Scalar> |
Definition at line 10 of file wheeled-inverted-pendulum.hpp.
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::ODEData = dynamics::ContinuousDynamicsDataTpl<Scalar> |
Definition at line 12 of file wheeled-inverted-pendulum.hpp.
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::VectorSpace = aligator::VectorSpaceTpl<Scalar, 7> |
Definition at line 13 of file wheeled-inverted-pendulum.hpp.
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inline |
Definition at line 14 of file wheeled-inverted-pendulum.hpp.
aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlineoverridevirtual |
Evaluate the ODE vector field: this returns the value of \(\dot{x}\).
Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.
Definition at line 22 of file wheeled-inverted-pendulum.hpp.
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inlineoverridevirtual |
Evaluate the vector field Jacobians.
Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.
Definition at line 38 of file wheeled-inverted-pendulum.hpp.
double aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::length_ |
Definition at line 19 of file wheeled-inverted-pendulum.hpp.
double aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::gravity_ |
Definition at line 20 of file wheeled-inverted-pendulum.hpp.