aligator::DirectSumExplicitDynamicsTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/explicit-dynamics-direct-sum.hpp>

Inheritance diagram for aligator::DirectSumExplicitDynamicsTpl< _Scalar >:

Collaboration diagram for aligator::DirectSumExplicitDynamicsTpl< _Scalar >:

Classes
struct	Data

Public Types
using	Scalar = _Scalar
using	Base = ExplicitDynamicsModelTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	CartesianProduct = aligator::CartesianProductTpl<Scalar>
using	BaseData = ExplicitDynamicsDataTpl<Scalar>
Public Types inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
using	Scalar = _Scalar
using	Data = ExplicitDynamicsDataTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	DirectSumExplicitDynamicsTpl (xyz::polymorphic< Base > f, xyz::polymorphic< Base > g)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Evaluate the forward discrete dynamics.
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override
	Compute the Jacobians of the forward dynamics.
shared_ptr< BaseData >	createData () const override
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

Public Attributes
xyz::polymorphic< Base >	f_
xyz::polymorphic< Base >	g_
Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
polymorphic< Manifold >	space_
polymorphic< Manifold >	space_next_
int	nu

Additional Inherited Members
Static Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< _Scalar >
static constexpr bool	is_explicit = true

Detailed Description

template<typename _Scalar>
struct aligator::DirectSumExplicitDynamicsTpl< _Scalar >

Direct sum of two explicit-dynamics models. This operates on the product space of the two supplied functions. The expression is

\[ (x_{k+1}, z_{k+1}) = (f(x_k, u_k), g(z_k, w_k)) \]

where \(f,g\) are the two components.

Definition at line 16 of file explicit-dynamics-direct-sum.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Scalar = _Scalar

Definition at line 17 of file explicit-dynamics-direct-sum.hpp.

Base

template<typename _Scalar>

using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Base = ExplicitDynamicsModelTpl<Scalar>

Definition at line 19 of file explicit-dynamics-direct-sum.hpp.

Manifold

template<typename _Scalar>

using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 20 of file explicit-dynamics-direct-sum.hpp.

CartesianProduct

template<typename _Scalar>

using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::CartesianProduct = aligator::CartesianProductTpl<Scalar>

Definition at line 21 of file explicit-dynamics-direct-sum.hpp.

BaseData

template<typename _Scalar>

using aligator::DirectSumExplicitDynamicsTpl< _Scalar >::BaseData = ExplicitDynamicsDataTpl<Scalar>

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

Constructor & Destructor Documentation

DirectSumExplicitDynamicsTpl()

template<typename _Scalar>

aligator::DirectSumExplicitDynamicsTpl< _Scalar >::DirectSumExplicitDynamicsTpl	(	xyz::polymorphic< Base >	f,
		xyz::polymorphic< Base >	g )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::DirectSumExplicitDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

void aligator::DirectSumExplicitDynamicsTpl< _Scalar >::forward ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

overridevirtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

dForward()

template<typename _Scalar>

void aligator::DirectSumExplicitDynamicsTpl< _Scalar >::dForward ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

overridevirtual

Compute the Jacobians of the forward dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::DirectSumExplicitDynamicsTpl< _Scalar >::createData ( ) const

inlineoverridevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 35 of file explicit-dynamics-direct-sum.hpp.

Member Data Documentation

f_

template<typename _Scalar>

xyz::polymorphic<Base> aligator::DirectSumExplicitDynamicsTpl< _Scalar >::f_

Definition at line 39 of file explicit-dynamics-direct-sum.hpp.

g_

template<typename _Scalar>

xyz::polymorphic<Base> aligator::DirectSumExplicitDynamicsTpl< _Scalar >::g_

Definition at line 39 of file explicit-dynamics-direct-sum.hpp.

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

• include/aligator/modelling/explicit-dynamics-direct-sum.hpp