#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

using	Data

using	Manifold

using	Scalar

using	Data

using	Manifold

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

	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.

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.