aligator::dynamics::IntegratorEulerTpl< _Scalar > Struct Template Reference

Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\). More...

#include <aligator/modelling/dynamics/integrator-euler.hpp>

Inheritance diagram for aligator::dynamics::IntegratorEulerTpl< _Scalar >:

Collaboration diagram for aligator::dynamics::IntegratorEulerTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = ExplicitIntegratorAbstractTpl<Scalar>
using	Data = ExplicitIntegratorDataTpl<Scalar>
using	ODEType = ODEAbstractTpl<Scalar>
using	ODEData = ContinuousDynamicsDataTpl<Scalar>
Public Types inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
using	Scalar = _Scalar
using	ODEType = ODEAbstractTpl<Scalar>
using	Base = ExplicitDynamicsModelTpl<Scalar>
using	DerivedData = ExplicitIntegratorDataTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	Data
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)
	IntegratorEulerTpl (const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, ExplicitDynamicsDataTpl< Scalar > &data) const
Public Member Functions inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
template<typename U>
U *	getDynamics ()
template<typename U>
const U *	getDynamics () const
	ExplicitIntegratorAbstractTpl (const xyz::polymorphic< ODEType > &cont_dynamics)
virtual	~ExplicitIntegratorAbstractTpl ()=default
shared_ptr< Data >	createData () const
virtual void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Compute the Jacobians of the forward dynamics.
virtual void	forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const =0
	Evaluate the forward discrete dynamics.
int	ndx1 () const
int	ndx2 () 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

Public Attributes
Scalar	timestep_
	Integration time step \(h\).
Public Attributes inherited from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >
xyz::polymorphic< ODEType >	ode_
int	nu
polymorphic< Manifold >	space_next_
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::dynamics::IntegratorEulerTpl< _Scalar >

Explicit Euler integrator \( x_{k+1} = x_k \oplus h f(x_k, u_k)\).

Definition at line 14 of file integrator-euler.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::dynamics::IntegratorEulerTpl< _Scalar >::Scalar = _Scalar

Definition at line 15 of file integrator-euler.hpp.

Base

template<typename _Scalar>

using aligator::dynamics::IntegratorEulerTpl< _Scalar >::Base = ExplicitIntegratorAbstractTpl<Scalar>

Definition at line 17 of file integrator-euler.hpp.

Data

template<typename _Scalar>

using aligator::dynamics::IntegratorEulerTpl< _Scalar >::Data = ExplicitIntegratorDataTpl<Scalar>

Definition at line 18 of file integrator-euler.hpp.

ODEType

template<typename _Scalar>

using aligator::dynamics::IntegratorEulerTpl< _Scalar >::ODEType = ODEAbstractTpl<Scalar>

Definition at line 19 of file integrator-euler.hpp.

ODEData

template<typename _Scalar>

using aligator::dynamics::IntegratorEulerTpl< _Scalar >::ODEData = ContinuousDynamicsDataTpl<Scalar>

Definition at line 20 of file integrator-euler.hpp.

Constructor & Destructor Documentation

IntegratorEulerTpl()

template<typename _Scalar>

aligator::dynamics::IntegratorEulerTpl< _Scalar >::IntegratorEulerTpl	(	const xyz::polymorphic< ODEType > &	cont_dynamics,
		const Scalar	timestep )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::IntegratorEulerTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

void aligator::dynamics::IntegratorEulerTpl< _Scalar >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		ExplicitDynamicsDataTpl< Scalar > &	data ) const

dForward()

template<typename _Scalar>

void aligator::dynamics::IntegratorEulerTpl< _Scalar >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		ExplicitDynamicsDataTpl< Scalar > &	data ) const

Member Data Documentation

timestep_

template<typename _Scalar>

Scalar aligator::dynamics::IntegratorEulerTpl< _Scalar >::timestep_

Integration time step \(h\).

Definition at line 23 of file integrator-euler.hpp.

---

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

• include/aligator/modelling/dynamics/fwd.hpp
• include/aligator/modelling/dynamics/integrator-euler.hpp