aligator::python::PyDynamics< Base > Struct Template Reference

#include </home/runner/work/aligator/aligator/bindings/python/include/aligator/python/dynamics.hpp>

Inheritance diagram for aligator::python::PyDynamics< Base >:

Collaboration diagram for aligator::python::PyDynamics< Base >:

Public Types
using	Scalar = typename Base::Scalar
using	Data = DynamicsDataTpl<Scalar>
Public Types inherited from aligator::DynamicsModelTpl< Scalar >
using	Scalar = _Scalar
using	Data = DynamicsDataTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const override
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const override
void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const override
shared_ptr< Data >	createData () const override
shared_ptr< Data >	default_createData () const
Public Member Functions inherited from aligator::DynamicsModelTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
const Manifold &	space () const
	State space for the input.
const Manifold &	space_next () const
	State space for the output of this dynamics model.
virtual bool	isExplicit () const
	Check if this dynamics model is implicit or explicit.
int	nx1 () const
int	nx2 () const
	DynamicsModelTpl (xyz::polymorphic< Manifold > space, const int nu)
	Constructor for dynamics.
	DynamicsModelTpl (xyz::polymorphic< Manifold > space, const int nu, xyz::polymorphic< Manifold > space_next)
	Constructor for dynamics. This constructor assumes same dimension for the current and next state.
virtual	~DynamicsModelTpl ()=default

Additional Inherited Members
Public Attributes inherited from aligator::DynamicsModelTpl< Scalar >
xyz::polymorphic< Manifold >	space_
	State space for the input.
xyz::polymorphic< Manifold >	space_next_
	State space for the output of this dynamics model.
const int	ndx1
	State space dimension.
const int	nu
	Control dimension.
const int	ndx2
	Next state space dimension.

Detailed Description

template<class Base = context::DynamicsModel>
struct aligator::python::PyDynamics< Base >

Wrapper for the StageFunction class and any virtual children that avoids having to redeclare Python overrides for these children.

This implements the "trampoline" technique from Pybind11's docs: https://pybind11.readthedocs.io/en/stable/advanced/classes.html#combining-virtual-functions-and-inheritance

Template Parameters

FunctionBase

The virtual class to expose.

Definition at line 26 of file dynamics.hpp.

Member Typedef Documentation

Scalar

template<class Base = context::DynamicsModel>

using aligator::python::PyDynamics< Base >::Scalar = typename Base::Scalar

Definition at line 29 of file dynamics.hpp.

Data

template<class Base = context::DynamicsModel>

using aligator::python::PyDynamics< Base >::Data = DynamicsDataTpl<Scalar>

Definition at line 30 of file dynamics.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<class Base = context::DynamicsModel>

aligator::python::PyDynamics< Base >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<class Base = context::DynamicsModel>

void aligator::python::PyDynamics< Base >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, Data & data ) const

inlineoverridevirtual

Implements aligator::DynamicsModelTpl< Scalar >.

Definition at line 34 of file dynamics.hpp.

computeJacobians()

template<class Base = context::DynamicsModel>

void aligator::python::PyDynamics< Base >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, Data & data ) const

inlineoverridevirtual

Implements aligator::DynamicsModelTpl< Scalar >.

Definition at line 39 of file dynamics.hpp.

computeVectorHessianProducts()

template<class Base = context::DynamicsModel>

void aligator::python::PyDynamics< Base >::computeVectorHessianProducts ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, const ConstVectorRef & lbda, Data & data ) const

inlineoverridevirtual

Reimplemented from aligator::DynamicsModelTpl< Scalar >.

Definition at line 45 of file dynamics.hpp.

createData()

template<class Base = context::DynamicsModel>

shared_ptr< Data > aligator::python::PyDynamics< Base >::createData ( ) const

inlineoverridevirtual

Reimplemented from aligator::DynamicsModelTpl< Scalar >.

Definition at line 54 of file dynamics.hpp.

default_createData()

template<class Base = context::DynamicsModel>

shared_ptr< Data > aligator::python::PyDynamics< Base >::default_createData ( ) const

inline

Definition at line 58 of file dynamics.hpp.

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

• bindings/python/include/aligator/python/dynamics.hpp