aligator::dynamics::IntegratorRK2Tpl< _Scalar > Struct Template Reference

Second-order Runge-Kutta integrator. More...

#include <aligator/modelling/dynamics/integrator-rk2.hpp>

Inheritance diagram for aligator::dynamics::IntegratorRK2Tpl< _Scalar >:

Collaboration diagram for aligator::dynamics::IntegratorRK2Tpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = ExplicitIntegratorAbstractTpl<Scalar>
using	BaseData = ExplicitDynamicsDataTpl<Scalar>
using	Data = IntegratorRK2DataTpl<Scalar>
using	ODEType = typename Base::ODEType
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)
	IntegratorRK2Tpl (const xyz::polymorphic< ODEType > &cont_dynamics, const Scalar timestep)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the forward discrete dynamics.
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Compute the Jacobians of the forward dynamics.
shared_ptr< BaseData >	createData () 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
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_
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::IntegratorRK2Tpl< _Scalar >

Second-order Runge-Kutta integrator.

\begin{eqnarray*} x_{k+1} = x_k \oplus h f(x^{(1)}, u_k),\\ x^{(1)} = x_k \oplus \frac h2 f(x_k, u_k) \end{eqnarray*}

Definition at line 19 of file integrator-rk2.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::Scalar = _Scalar

Definition at line 20 of file integrator-rk2.hpp.

Base

template<typename _Scalar>

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::Base = ExplicitIntegratorAbstractTpl<Scalar>

Definition at line 22 of file integrator-rk2.hpp.

BaseData

template<typename _Scalar>

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::BaseData = ExplicitDynamicsDataTpl<Scalar>

Definition at line 23 of file integrator-rk2.hpp.

Data

template<typename _Scalar>

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::Data = IntegratorRK2DataTpl<Scalar>

Definition at line 24 of file integrator-rk2.hpp.

ODEType

template<typename _Scalar>

using aligator::dynamics::IntegratorRK2Tpl< _Scalar >::ODEType = typename Base::ODEType

Definition at line 25 of file integrator-rk2.hpp.

Constructor & Destructor Documentation

IntegratorRK2Tpl()

template<typename _Scalar>

aligator::dynamics::IntegratorRK2Tpl< _Scalar >::IntegratorRK2Tpl	(	const xyz::polymorphic< ODEType > &	cont_dynamics,
		const Scalar	timestep )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::IntegratorRK2Tpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

void aligator::dynamics::IntegratorRK2Tpl< _Scalar >::forward ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

virtual

Evaluate the forward discrete dynamics.

Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.

dForward()

template<typename _Scalar>

void aligator::dynamics::IntegratorRK2Tpl< _Scalar >::dForward ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

virtual

Compute the Jacobians of the forward dynamics.

Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.

createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::dynamics::IntegratorRK2Tpl< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >.

Definition at line 36 of file integrator-rk2.hpp.

Member Data Documentation

timestep_

template<typename _Scalar>

Scalar aligator::dynamics::IntegratorRK2Tpl< _Scalar >::timestep_

Definition at line 27 of file integrator-rk2.hpp.

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

• include/aligator/modelling/dynamics/fwd.hpp
• include/aligator/modelling/dynamics/integrator-rk2.hpp