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

#include <aligator/modelling/dynamics/wheeled-inverted-pendulum.hpp>

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

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

Public Types
using	Scalar = _Scalar
using	Base = dynamics::ODEAbstractTpl<Scalar>
using	ODEData = dynamics::ContinuousDynamicsDataTpl<Scalar>
using	VectorSpace = aligator::VectorSpaceTpl<Scalar, 7>
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)
	WheeledInvertedPendulumDynamicsTpl (const double gravity, const double length)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const override
	Evaluate the ODE vector field: this returns the value of \(\dot{x}\).
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, ODEData &data) const override
	Evaluate the vector field Jacobians.
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
virtual shared_ptr< Data >	createData () const
	Create a data holder instance.

Public Attributes
double	length_
double	gravity_
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::WheeledInvertedPendulumDynamicsTpl< _Scalar >

Definition at line 8 of file wheeled-inverted-pendulum.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 9 of file wheeled-inverted-pendulum.hpp.

Base

template<typename _Scalar>

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

Definition at line 10 of file wheeled-inverted-pendulum.hpp.

ODEData

template<typename _Scalar>

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

Definition at line 12 of file wheeled-inverted-pendulum.hpp.

VectorSpace

template<typename _Scalar>

using aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::VectorSpace = aligator::VectorSpaceTpl<Scalar, 7>

Definition at line 13 of file wheeled-inverted-pendulum.hpp.

Constructor & Destructor Documentation

WheeledInvertedPendulumDynamicsTpl()

template<typename _Scalar>

aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::WheeledInvertedPendulumDynamicsTpl ( const double gravity, const double length )

inline

Definition at line 14 of file wheeled-inverted-pendulum.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<typename _Scalar>

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

inlineoverridevirtual

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

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

Definition at line 22 of file wheeled-inverted-pendulum.hpp.

dForward()

template<typename _Scalar>

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

inlineoverridevirtual

Evaluate the vector field Jacobians.

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

Definition at line 38 of file wheeled-inverted-pendulum.hpp.

Member Data Documentation

length_

template<typename _Scalar>

double aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::length_

Definition at line 19 of file wheeled-inverted-pendulum.hpp.

gravity_

template<typename _Scalar>

double aligator::dynamics::WheeledInvertedPendulumDynamicsTpl< _Scalar >::gravity_

Definition at line 20 of file wheeled-inverted-pendulum.hpp.

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

• include/aligator/modelling/dynamics/wheeled-inverted-pendulum.hpp