Template Class IntegratedActionModelEulerTpl

Defined in File euler.hpp

Inheritance Relationships

Base Type

public crocoddyl::IntegratedActionModelAbstractTpl< _Scalar > (Template Class IntegratedActionModelAbstractTpl)

Class Documentation

template<typename _Scalar> class IntegratedActionModelEulerTpl : public crocoddyl::IntegratedActionModelAbstractTpl<_Scalar>

Symplectic Euler integrator.

It applies a symplectic Euler integration scheme to a differential (i.e., continuous time) action model.

This symplectic Euler scheme introduces also the possibility to parametrize the control trajectory inside an integration step, for instance using polynomials. This requires introducing some notation to clarify the difference between the control inputs of the differential model and the control inputs to the integrated model. We have decided to use \(\mathbf{w}\) to refer to the control inputs of the differential model and \(\mathbf{u}\) for the control inputs of the integrated action model. Note that the zero-order (e.g., ControlParametrizationModelPolyZeroTpl) are the only ones that make sense to use within this integrator.