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

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

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

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Public Types
using	Scalar = context::Scalar

using	Data = ExplicitDynamicsDataTpl<Scalar>

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

using	Data

using	Manifold

using	Scalar

using	Data

using	Manifold

Public Types inherited from aligator::python::PolymorphicWrapper< PyExplicitDynamics< context::ExplicitDynamics >, context::ExplicitDynamics >
using	PyBase

using	Base

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< Data >	createData () const

shared_ptr< Data >	default_createData () const

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

	ExplicitDynamicsModelTpl (const polymorphic< Manifold > &space, const int nu)
	Constructor requires providing the next state's manifold.

const Manifold &	space () const

const Manifold &	space_next () const

int	nx1 () const

int	ndx1 () const

int	nx2 () const

int	ndx2 () const

virtual	~ExplicitDynamicsModelTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	ExplicitDynamicsModelTpl (const polymorphic< Manifold > &space, const int nu)
	Constructor requires providing the next state's manifold.

const Manifold &	space () const

const Manifold &	space_next () const

int	nx1 () const

int	ndx1 () const

int	nx2 () const

int	ndx2 () const

virtual	~ExplicitDynamicsModelTpl ()=default

Public Member Functions inherited from aligator::python::PolymorphicWrapper< PyExplicitDynamics< context::ExplicitDynamics >, context::ExplicitDynamics >
	PolymorphicWrapper ()=default

	PolymorphicWrapper (const PolymorphicWrapper &o)

	PolymorphicWrapper (PolymorphicWrapper &&o)=default

PolymorphicWrapper &	operator= (const PolymorphicWrapper &o)

PolymorphicWrapper &	operator= (PolymorphicWrapper &&o)=default

Additional Inherited Members
Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
polymorphic< Manifold >	space_

polymorphic< Manifold >	space_next_

int	nu

polymorphic< Manifold >	space_

polymorphic< Manifold >	space_next_

int	nu

Static Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
static constexpr bool	is_explicit

static constexpr bool	is_explicit

Detailed Description

template<class Base = context::ExplicitDynamics>
struct aligator::python::PyExplicitDynamics< Base >

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 20 of file explicit-dynamics.hpp.

Member Typedef Documentation

◆ Scalar

template<class Base = context::ExplicitDynamics>

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

Definition at line 23 of file explicit-dynamics.hpp.

◆ Data

template<class Base = context::ExplicitDynamics>

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

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

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<class Base = context::ExplicitDynamics>

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

◆ forward()

template<class Base = context::ExplicitDynamics>

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

inlinevirtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 30 of file explicit-dynamics.hpp.

◆ dForward()

template<class Base = context::ExplicitDynamics>

void aligator::python::PyExplicitDynamics< Base >::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 35 of file explicit-dynamics.hpp.

◆ createData()

template<class Base = context::ExplicitDynamics>

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

inlinevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 40 of file explicit-dynamics.hpp.

◆ default_createData()

template<class Base = context::ExplicitDynamics>

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

inline

Definition at line 44 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()