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

Inheritance diagram for aligator::python::PyExplicitDynamics< ExplicitBase >:

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Collaboration diagram for aligator::python::PyExplicitDynamics< ExplicitBase >:

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Public Types
using	Scalar = context::Scalar

using	Data = ExplicitDynamicsDataTpl<Scalar>

Public Types inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
using	Scalar = _Scalar

using	Base = DynamicsModelTpl<Scalar>

using	BaseData = DynamicsDataTpl<Scalar>

using	Data = ExplicitDynamicsDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = xyz::polymorphic<Manifold>

Public Types inherited from aligator::DynamicsModelTpl< _Scalar >
using	Scalar

using	Data

using	Manifold

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

void	forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
	Evaluate the forward discrete dynamics.

void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
	Compute the Jacobians of the forward dynamics.

shared_ptr< DynamicsData >	createData () const

shared_ptr< DynamicsData >	default_createData () const

Public Member Functions inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

bool	isExplicit () const
	Check if this dynamics model is implicit or explicit.

	ExplicitDynamicsModelTpl (const ManifoldPtr &space, const int nu)
	Constructor requires providing the next state's manifold.

virtual	~ExplicitDynamicsModelTpl ()=default

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) 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.

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 void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, Data &) const=0

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, Data &) const=0

virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xn, const ConstVectorRef &lbda, Data &data) const

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 ExplicitBase = context::ExplicitDynamics>
struct aligator::python::PyExplicitDynamics< ExplicitBase >

Wrapper for ExplicitDynamicsModel which avoids redeclaring overrides for any child virtual class (e.g. integrator classes).

Template Parameters

ExplicitBase The derived virtual class that is being exposed.

See also: PyStageFunction

Definition at line 22 of file explicit-dynamics.hpp.

Member Typedef Documentation

◆ Scalar

template<class ExplicitBase = context::ExplicitDynamics>

using aligator::python::PyExplicitDynamics< ExplicitBase >::Scalar = context::Scalar

Definition at line 26 of file explicit-dynamics.hpp.

◆ Data

template<class ExplicitBase = context::ExplicitDynamics>

using aligator::python::PyExplicitDynamics< ExplicitBase >::Data = ExplicitDynamicsDataTpl<Scalar>

Definition at line 29 of file explicit-dynamics.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<class ExplicitBase = context::ExplicitDynamics>

aligator::python::PyExplicitDynamics< ExplicitBase >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ forward()

template<class ExplicitBase = context::ExplicitDynamics>

void aligator::python::PyExplicitDynamics< ExplicitBase >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

inlinevirtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 33 of file explicit-dynamics.hpp.

◆ dForward()

template<class ExplicitBase = context::ExplicitDynamics>

void aligator::python::PyExplicitDynamics< ExplicitBase >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

inlinevirtual

Compute the Jacobians of the forward dynamics.

Implements aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 38 of file explicit-dynamics.hpp.

◆ createData()

template<class ExplicitBase = context::ExplicitDynamics>

shared_ptr< DynamicsData > aligator::python::PyExplicitDynamics< ExplicitBase >::createData ( ) const

inlinevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 43 of file explicit-dynamics.hpp.

◆ default_createData()

template<class ExplicitBase = context::ExplicitDynamics>

shared_ptr< DynamicsData > aligator::python::PyExplicitDynamics< ExplicitBase >::default_createData ( ) const

inline

Definition at line 48 of file explicit-dynamics.hpp.

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

bindings/python/include/aligator/python/modelling/explicit-dynamics.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Data

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ forward()

◆ dForward()

◆ createData()

◆ default_createData()