aligator::python::PyExplicitDynamics< Base > Struct Template Reference

#include </build/source/bindings/python/include/aligator/python/modelling/explicit-dynamics.hpp>

Inheritance diagram for aligator::python::PyExplicitDynamics< Base >:

Collaboration diagram for aligator::python::PyExplicitDynamics< Base >:

Public Types
using	Scalar = context::Scalar
using	Data = ExplicitDynamicsDataTpl<Scalar>
Public Types inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
using	Scalar
using	Data
using	Manifold
Public Types inherited from aligator::python::PolymorphicWrapper< PyExplicitDynamics< context::ExplicitDynamics >, context::ExplicitDynamics >
using	PyBase
using	Base

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
void	forward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
	Evaluate the forward discrete dynamics.
void	dForward (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
	Compute the Jacobians of the forward dynamics.
shared_ptr< Data >	createData () const
shared_ptr< Data >	default_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 Member Functions inherited from aligator::python::PolymorphicWrapper< PyExplicitDynamics< context::ExplicitDynamics >, context::ExplicitDynamics >
	PolymorphicWrapper ()=default
PolymorphicWrapper &	operator= (const PolymorphicWrapper &o)

Additional Inherited Members
Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
polymorphic< Manifold >	space_
polymorphic< Manifold >	space_next_
int	nu
Static Public Attributes inherited from aligator::ExplicitDynamicsModelTpl< Scalar >
static constexpr bool	is_explicit

Detailed Description

template<class Base = context::ExplicitDynamics>
struct aligator::python::PyExplicitDynamics< Base >

Wrapper for ExplicitDynamicsModel which avoids redeclaring overrides for any child virtual class (e.g. integrator classes).

Template Parameters

ExplicitBase

The derived virtual class that is being exposed.

See also

PyStageFunction

Definition at line 20 of file explicit-dynamics.hpp.

Member Typedef Documentation

Scalar

template<class Base = context::ExplicitDynamics>

using aligator::python::PyExplicitDynamics< Base >::Scalar = context::Scalar

Definition at line 23 of file explicit-dynamics.hpp.

Data

template<class Base = context::ExplicitDynamics>

using aligator::python::PyExplicitDynamics< Base >::Data = ExplicitDynamicsDataTpl<Scalar>

Definition at line 26 of file explicit-dynamics.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<class Base = context::ExplicitDynamics>

aligator::python::PyExplicitDynamics< Base >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

forward()

template<class Base = context::ExplicitDynamics>

void aligator::python::PyExplicitDynamics< Base >::forward ( const ConstVectorRef & x, const ConstVectorRef & u, Data & data ) const

inlinevirtual

Evaluate the forward discrete dynamics.

Implements aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 30 of file explicit-dynamics.hpp.

dForward()

template<class Base = context::ExplicitDynamics>

void aligator::python::PyExplicitDynamics< Base >::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 35 of file explicit-dynamics.hpp.

createData()

template<class Base = context::ExplicitDynamics>

shared_ptr< Data > aligator::python::PyExplicitDynamics< Base >::createData ( ) const

inlinevirtual

Reimplemented from aligator::ExplicitDynamicsModelTpl< Scalar >.

Definition at line 40 of file explicit-dynamics.hpp.

default_createData()

template<class Base = context::ExplicitDynamics>

shared_ptr< Data > aligator::python::PyExplicitDynamics< Base >::default_createData ( ) const

inline

Definition at line 44 of file explicit-dynamics.hpp.

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

• bindings/python/include/aligator/python/modelling/explicit-dynamics.hpp