aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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aligator::ExplicitDynamicsModelTpl< _Scalar > Struct Template Referenceabstract

Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \). More...

#include <aligator/core/explicit-dynamics.hpp>

Inheritance diagram for aligator::ExplicitDynamicsModelTpl< _Scalar >:
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Collaboration diagram for aligator::ExplicitDynamicsModelTpl< _Scalar >:
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Public Types

using Scalar = _Scalar
using Data = ExplicitDynamicsDataTpl<Scalar>
using Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions

 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 void forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
 Evaluate the forward discrete dynamics.
virtual void dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
 Compute the Jacobians of the forward dynamics.
virtual shared_ptr< Data > createData () const
virtual ~ExplicitDynamicsModelTpl ()=default

Public Attributes

polymorphic< Manifold > space_
polymorphic< Manifold > space_next_
int nu

Static Public Attributes

static constexpr bool is_explicit = true

Detailed Description

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

Explicit forward dynamics model \( x_{k+1} = f(x_k, u_k) \).

Forward dynamics \( x_{k+1} = f(x_k, u_k) \). The corresponding residuals for NLP-like formulations

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

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>
using aligator::ExplicitDynamicsModelTpl< _Scalar >::Scalar = _Scalar

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

◆ Data

template<typename _Scalar>
using aligator::ExplicitDynamicsModelTpl< _Scalar >::Data = ExplicitDynamicsDataTpl<Scalar>

Definition at line 24 of file explicit-dynamics.hpp.

◆ Manifold

template<typename _Scalar>
using aligator::ExplicitDynamicsModelTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 25 of file explicit-dynamics.hpp.

Constructor & Destructor Documentation

◆ ExplicitDynamicsModelTpl()

template<typename _Scalar>
aligator::ExplicitDynamicsModelTpl< _Scalar >::ExplicitDynamicsModelTpl(const polymorphic< Manifold > &space,
const intnu )
inline

Constructor requires providing the next state's manifold.

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

◆ ~ExplicitDynamicsModelTpl()

template<typename _Scalar>
virtual aligator::ExplicitDynamicsModelTpl< _Scalar >::~ExplicitDynamicsModelTpl()
virtualdefault

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>
aligator::ExplicitDynamicsModelTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)

◆ space()

template<typename _Scalar>
const Manifold & aligator::ExplicitDynamicsModelTpl< _Scalar >::space()const
inline

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

◆ space_next()

template<typename _Scalar>
const Manifold & aligator::ExplicitDynamicsModelTpl< _Scalar >::space_next()const
inline

Definition at line 36 of file explicit-dynamics.hpp.

◆ nx1()

template<typename _Scalar>
int aligator::ExplicitDynamicsModelTpl< _Scalar >::nx1()const
inline

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

◆ ndx1()

template<typename _Scalar>
int aligator::ExplicitDynamicsModelTpl< _Scalar >::ndx1()const
inline

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

◆ nx2()

template<typename _Scalar>
int aligator::ExplicitDynamicsModelTpl< _Scalar >::nx2()const
inline

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

◆ ndx2()

template<typename _Scalar>
int aligator::ExplicitDynamicsModelTpl< _Scalar >::ndx2()const
inline

Definition at line 41 of file explicit-dynamics.hpp.

◆ forward()

template<typename _Scalar>
virtual void aligator::ExplicitDynamicsModelTpl< _Scalar >::forward(const ConstVectorRef &x,
const ConstVectorRef &u,
Data &data ) const
pure virtual

Evaluate the forward discrete dynamics.

Implemented in aligator::compat::croc::NoOpDynamics< Scalar >, aligator::DirectSumExplicitDynamicsTpl< _Scalar >, aligator::DirectSumExplicitDynamicsTpl< Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< Scalar >, aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >, aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >, and aligator::python::PyExplicitDynamics< Base >.

◆ dForward()

template<typename _Scalar>
virtual void aligator::ExplicitDynamicsModelTpl< _Scalar >::dForward(const ConstVectorRef &x,
const ConstVectorRef &u,
Data &data ) const
pure virtual

Compute the Jacobians of the forward dynamics.

Implemented in aligator::compat::croc::NoOpDynamics< Scalar >, aligator::DirectSumExplicitDynamicsTpl< _Scalar >, aligator::DirectSumExplicitDynamicsTpl< Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< Scalar >, aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >, aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >, and aligator::python::PyExplicitDynamics< Base >.

◆ createData()

template<typename _Scalar>
virtual shared_ptr< Data > aligator::ExplicitDynamicsModelTpl< _Scalar >::createData()const
inlinevirtual

Reimplemented in aligator::DirectSumExplicitDynamicsTpl< _Scalar >, aligator::DirectSumExplicitDynamicsTpl< Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< Scalar >, aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< Scalar >, aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >, and aligator::python::PyExplicitDynamics< Base >.

Definition at line 51 of file explicit-dynamics.hpp.

Member Data Documentation

◆ is_explicit

template<typename _Scalar>
bool aligator::ExplicitDynamicsModelTpl< _Scalar >::is_explicit = true
staticconstexpr

Definition at line 27 of file explicit-dynamics.hpp.

◆ space_

template<typename _Scalar>
polymorphic<Manifold> aligator::ExplicitDynamicsModelTpl< _Scalar >::space_

Definition at line 57 of file explicit-dynamics.hpp.

◆ space_next_

template<typename _Scalar>
polymorphic<Manifold> aligator::ExplicitDynamicsModelTpl< _Scalar >::space_next_

Definition at line 58 of file explicit-dynamics.hpp.

◆ nu

template<typename _Scalar>
int aligator::ExplicitDynamicsModelTpl< _Scalar >::nu

Definition at line 59 of file explicit-dynamics.hpp.

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