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

Linear ordinary differential equation \(\dot{x} = Ax + Bu\). More...

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

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

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

Public Types
using	Scalar = _Scalar
using	Base = ODEAbstractTpl<Scalar>
using	ODEData = ContinuousDynamicsDataTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	ManifoldPtr = xyz::polymorphic<Manifold>
Public Types inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
using	Scalar = _Scalar
using	Base = ContinuousDynamicsAbstractTpl<Scalar>
using	Data = ContinuousDynamicsDataTpl<Scalar>
Public Types inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
using	Scalar = _Scalar
using	Manifold = ManifoldAbstractTpl<Scalar>
using	ManifoldPtr = xyz::polymorphic<Manifold>
using	Data = ContinuousDynamicsDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	LinearODETpl (const ManifoldPtr &space, const MatrixXs &A, const MatrixXs &B, const VectorXs &c)
	Standard constructor with state space, matrices \(A,B\) and constant term \(c\).
	LinearODETpl (const MatrixXs &A, const MatrixXs &B, const VectorXs &c)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const
	Evaluate the ODE vector field: this returns the value of \(\dot{x}\).
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const
	Evaluate the vector field Jacobians.
virtual shared_ptr< ContinuousDynamicsDataTpl< Scalar > >	createData () const
	Create a data holder instance.
Public Member Functions inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
virtual	~ODEAbstractTpl ()=default
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override
	Differentiate the vector field.
Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	ndx () const
int	nu () const
const Manifold &	space () const
	Return a reference to the state space.
	ContinuousDynamicsAbstractTpl (ManifoldPtr space, const int nu)
virtual	~ContinuousDynamicsAbstractTpl ()=default

Public Attributes
MatrixXs	A_
MatrixXs	B_
VectorXs	c_
Public Attributes inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
const int	nu_
	Control space dimension.
ManifoldPtr	space_
	State space.
Public Attributes inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
ManifoldPtr	space_
	State space.
const int	nu_
	Control space dimension.

Detailed Description

template<typename _Scalar>
struct aligator::dynamics::LinearODETpl< _Scalar >

Linear ordinary differential equation \(\dot{x} = Ax + Bu\).

This equation may be defined over a manifold's tangent space.

Definition at line 14 of file linear-ode.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 15 of file linear-ode.hpp.

Base

template<typename _Scalar>

using aligator::dynamics::LinearODETpl< _Scalar >::Base = ODEAbstractTpl<Scalar>

Definition at line 17 of file linear-ode.hpp.

ODEData

template<typename _Scalar>

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

Definition at line 18 of file linear-ode.hpp.

Manifold

template<typename _Scalar>

using aligator::dynamics::LinearODETpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 19 of file linear-ode.hpp.

ManifoldPtr

template<typename _Scalar>

using aligator::dynamics::LinearODETpl< _Scalar >::ManifoldPtr = xyz::polymorphic<Manifold>

Definition at line 20 of file linear-ode.hpp.

Constructor & Destructor Documentation

LinearODETpl() [1/2]

template<typename _Scalar>

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

inline

Standard constructor with state space, matrices \(A,B\) and constant term \(c\).

Definition at line 27 of file linear-ode.hpp.

LinearODETpl() [2/2]

template<typename _Scalar>

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

inline

Constructor matrices \(A,B\) and constant term \(c\). The state space is inferred to be a vector space.

Definition at line 49 of file linear-ode.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::LinearODETpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

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

virtual

Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.

dForward()

template<typename _Scalar>

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

virtual

Evaluate the vector field Jacobians.

Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.

createData()

template<typename _Scalar>

virtual shared_ptr< ContinuousDynamicsDataTpl< Scalar > > aligator::dynamics::LinearODETpl< _Scalar >::createData ( ) const

inlinevirtual

Create a data holder instance.

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

Definition at line 58 of file linear-ode.hpp.

Member Data Documentation

A_

template<typename _Scalar>

MatrixXs aligator::dynamics::LinearODETpl< _Scalar >::A_

Definition at line 22 of file linear-ode.hpp.

B_

template<typename _Scalar>

MatrixXs aligator::dynamics::LinearODETpl< _Scalar >::B_

Definition at line 22 of file linear-ode.hpp.

c_

template<typename _Scalar>

VectorXs aligator::dynamics::LinearODETpl< _Scalar >::c_

Definition at line 23 of file linear-ode.hpp.

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

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