aligator  0.15.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/dynamics/wheeled-inverted-pendulum.hpp>

Inheritance diagram for aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >:
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Collaboration diagram for aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >:
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Public Types

using Scalar = _Scalar
 
using Base = dynamics::ODEAbstractTpl<Scalar>
 
using ODEData = dynamics::ContinuousDynamicsDataTpl<Scalar>
 
using VectorSpace = aligator::VectorSpaceTpl<Scalar, 7>
 
- 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 = _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.
 
- 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
 Differentiate the vector field.
 
- Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
 
int ndx () const
 
int nu () const
 
const Manifoldspace () const
 Return a reference to the state space.
 
 ContinuousDynamicsAbstractTpl (ManifoldPtr space, const int nu)
 
virtual ~ContinuousDynamicsAbstractTpl ()=default
 
virtual shared_ptr< DatacreateData () const
 Create a data holder instance.
 

Public Attributes

double length_
 
double gravity_
 
- 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::WheeledInvertedPendulumDynamicsTpl< _Scalar >

Definition at line 8 of file wheeled-inverted-pendulum.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::Scalar = _Scalar

Definition at line 9 of file wheeled-inverted-pendulum.hpp.

◆ Base

template<typename _Scalar>
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::Base = dynamics::ODEAbstractTpl<Scalar>

Definition at line 10 of file wheeled-inverted-pendulum.hpp.

◆ ODEData

Definition at line 12 of file wheeled-inverted-pendulum.hpp.

◆ VectorSpace

template<typename _Scalar>
using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::VectorSpace = aligator::VectorSpaceTpl<Scalar, 7>

Definition at line 13 of file wheeled-inverted-pendulum.hpp.

Constructor & Destructor Documentation

◆ WheeledInvertedPendulumDynamicsTpl()

template<typename _Scalar>
aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::WheeledInvertedPendulumDynamicsTpl ( const double gravity,
const double length )
inline

Definition at line 14 of file wheeled-inverted-pendulum.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>
aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ forward()

template<typename _Scalar>
void aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::forward ( const ConstVectorRef & x,
const ConstVectorRef & u,
ODEData & data ) const
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.

◆ dForward()

template<typename _Scalar>
void aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::dForward ( const ConstVectorRef & x,
const ConstVectorRef & u,
ODEData & data ) const
inlineoverridevirtual

Evaluate the vector field Jacobians.

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

Definition at line 38 of file wheeled-inverted-pendulum.hpp.

Member Data Documentation

◆ length_

template<typename _Scalar>
double aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::length_

Definition at line 19 of file wheeled-inverted-pendulum.hpp.

◆ gravity_

template<typename _Scalar>
double aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::gravity_

Definition at line 20 of file wheeled-inverted-pendulum.hpp.


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