aligator::dynamics Namespace Reference

Namespace for modelling system dynamics. More...

Classes
struct	CentroidalFwdDataTpl
struct	CentroidalFwdDynamicsTpl
	Nonlinear centroidal forward dynamics. More...
struct	ContinuousCentroidalFwdDataTpl
struct	ContinuousCentroidalFwdDynamicsTpl
	Nonlinear centroidal forward dynamics with smooth control. More...
struct	ContinuousDynamicsAbstractTpl
	Continuous dynamics described by differential-algebraic equations (DAEs) \(F(\dot{x}, x, u) = 0\). More...
struct	ContinuousDynamicsDataTpl
	Data struct for ContinuousDynamicsAbstractTpl. More...
struct	ExplicitIntegratorAbstractTpl
	Explicit integrators \(x_{k+1} = f(x_k, u_k) \). More...
struct	ExplicitIntegratorDataTpl
struct	IntegratorAbstractTpl
	Base class for (implicit) numerical integrators. More...
struct	IntegratorDataTpl
	Data class for numerical integrators (IntegratorAbstractTpl). More...
struct	IntegratorEulerTpl
	Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\). More...
struct	IntegratorMidpointDataTpl
struct	IntegratorMidpointTpl
	Midpoint integration rule. More...
struct	IntegratorRK2DataTpl
struct	IntegratorRK2Tpl
	Second-order Runge-Kutta integrator. More...
struct	IntegratorSemiImplDataTpl
struct	IntegratorSemiImplEulerTpl
	Semi-implicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\). More...
struct	KinodynamicsFwdDataTpl
struct	KinodynamicsFwdDynamicsTpl
	Nonlinear centroidal and full kinematics forward dynamics. More...
struct	LinearDiscreteDynamicsTpl
	Discrete explicit linear dynamics. More...
struct	LinearODETpl
	Linear ordinary differential equation \(\dot{x} = Ax + Bu\). More...
struct	MultibodyConstraintFwdDataTpl
struct	MultibodyConstraintFwdDynamicsTpl
	Constraint multibody forward dynamics, using Pinocchio. More...
struct	MultibodyFreeFwdDataTpl
struct	MultibodyFreeFwdDynamicsTpl
	Free-space multibody forward dynamics, using Pinocchio. More...
struct	ODEAbstractTpl
	Base class for ODE dynamics \( \dot{x} = f(x, u) \). More...
struct	WheeledInvertedPendulumDynamicsTpl

Detailed Description

Namespace for modelling system dynamics.