aligator::forwardDynamics< T > Struct Template Reference

Evaluates the forward map for a discrete dynamics model, implicit or explicit. More...

#include <aligator/utils/forward-dyn.hpp>

Public Types
using	VectorXs = typename math_types<T>::VectorXs
using	VectorRef = typename math_types<T>::VectorRef
using	ConstVectorRef = typename math_types<T>::ConstVectorRef
using	MatrixRef = typename math_types<T>::MatrixRef

Static Public Member Functions
static void	run (const DynamicsModelTpl< T > &model, const ConstVectorRef &x, const ConstVectorRef &u, DynamicsDataTpl< T > &data, VectorRef xout, const std::optional< ConstVectorRef > &gap=std::nullopt, const uint max_iters=1000, const T EPS=1e-6)
static void	run (const ExplicitDynamicsModelTpl< T > &model, const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< T > &data, VectorRef xout, const std::optional< ConstVectorRef > &gap=std::nullopt)

Detailed Description

template<typename T>
struct aligator::forwardDynamics< T >

Evaluates the forward map for a discrete dynamics model, implicit or explicit.

If the given DynamicsModelTpl can be safely downcast to an explicit dynamics type then this function will use the ExplicitDynamicsModelTpl::forward() method.

Definition at line 18 of file forward-dyn.hpp.

Member Typedef Documentation

VectorXs

template<typename T >

using aligator::forwardDynamics< T >::VectorXs = typename math_types<T>::VectorXs

Definition at line 20 of file forward-dyn.hpp.

VectorRef

template<typename T >

using aligator::forwardDynamics< T >::VectorRef = typename math_types<T>::VectorRef

Definition at line 21 of file forward-dyn.hpp.

ConstVectorRef

template<typename T >

using aligator::forwardDynamics< T >::ConstVectorRef = typename math_types<T>::ConstVectorRef

Definition at line 22 of file forward-dyn.hpp.

MatrixRef

template<typename T >

using aligator::forwardDynamics< T >::MatrixRef = typename math_types<T>::MatrixRef

Definition at line 23 of file forward-dyn.hpp.

Member Function Documentation

run() [1/2]

template<typename T >

static void aligator::forwardDynamics< T >::run ( const DynamicsModelTpl< T > & model, const ConstVectorRef & x, const ConstVectorRef & u, DynamicsDataTpl< T > & data, VectorRef xout, const std::optional< ConstVectorRef > & gap = std::nullopt, const uint max_iters = 1000, const T EPS = 1e-6 )

inlinestatic

Definition at line 25 of file forward-dyn.hpp.

run() [2/2]

template<typename T >

static void aligator::forwardDynamics< T >::run ( const ExplicitDynamicsModelTpl< T > & model, const ConstVectorRef & x, const ConstVectorRef & u, ExplicitDynamicsDataTpl< T > & data, VectorRef xout, const std::optional< ConstVectorRef > & gap = std::nullopt )

inlinestatic

Definition at line 57 of file forward-dyn.hpp.

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

• include/aligator/utils/forward-dyn.hpp