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

Discrete explicit linear dynamics. More...

#include <aligator/modelling/linear-discrete-dynamics.hpp>

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

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

Public Types
using	Scalar = _Scalar
using	Base = ExplicitDynamicsModelTpl<Scalar>
using	Data = ExplicitDynamicsDataTpl<Scalar>
using	VectorSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic>
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)
	LinearDiscreteDynamicsTpl (const MatrixXs &A, const MatrixXs &B, const VectorXs &c)
	Constructor with state manifold and matrices.
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
	Evaluate the forward discrete dynamics.
void	dForward (const ConstVectorRef &, const ConstVectorRef &, Data &) const
	Compute the Jacobians of the forward dynamics.
shared_ptr< Data >	createData () 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
const MatrixXs	A_
const MatrixXs	B_
const VectorXs	c_
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::LinearDiscreteDynamicsTpl< _Scalar >

Discrete explicit linear dynamics.

Definition at line 12 of file linear-discrete-dynamics.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 13 of file linear-discrete-dynamics.hpp.

Base

template<typename _Scalar>

using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::Base = ExplicitDynamicsModelTpl<Scalar>

Definition at line 19 of file linear-discrete-dynamics.hpp.

Data

template<typename _Scalar>

using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::Data = ExplicitDynamicsDataTpl<Scalar>

Definition at line 20 of file linear-discrete-dynamics.hpp.

VectorSpaceType

template<typename _Scalar>

using aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::VectorSpaceType = VectorSpaceTpl<Scalar, Eigen::Dynamic>

Definition at line 21 of file linear-discrete-dynamics.hpp.

Constructor & Destructor Documentation

LinearDiscreteDynamicsTpl()

template<typename _Scalar>

aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::LinearDiscreteDynamicsTpl ( const MatrixXs & A, const MatrixXs & B, const VectorXs & c )

inline

Constructor with state manifold and matrices.

Definition at line 24 of file linear-discrete-dynamics.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

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

inlinevirtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 31 of file linear-discrete-dynamics.hpp.

dForward()

template<typename _Scalar>

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

inlinevirtual

Compute the Jacobians of the forward dynamics.

Implements aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 38 of file linear-discrete-dynamics.hpp.

createData()

template<typename _Scalar>

shared_ptr< Data > aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< _Scalar >.

Definition at line 40 of file linear-discrete-dynamics.hpp.

Member Data Documentation

A_

template<typename _Scalar>

const MatrixXs aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::A_

Definition at line 15 of file linear-discrete-dynamics.hpp.

B_

template<typename _Scalar>

const MatrixXs aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::B_

Definition at line 16 of file linear-discrete-dynamics.hpp.

c_

template<typename _Scalar>

const VectorXs aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >::c_

Definition at line 17 of file linear-discrete-dynamics.hpp.

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

• include/aligator/modelling/linear-discrete-dynamics.hpp