double_integrator_dynamics_solver.h
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29 
30 #ifndef EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_
31 #define EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_
32 
34 #include <exotica_core/scene.h>
35 
36 #include <exotica_double_integrator_dynamics_solver/double_integrator_dynamics_solver_initializer.h>
37 
38 namespace exotica
39 {
40 class DoubleIntegratorDynamicsSolver : public DynamicsSolver, public Instantiable<DoubleIntegratorDynamicsSolverInitializer>
41 {
42 public:
43  void AssignScene(ScenePtr scene_in) override;
44 
45  StateVector f(const StateVector& x, const ControlVector& u) override;
46  void ComputeDerivatives(const StateVector& x, const ControlVector& u) override;
47  StateDerivative fx(const StateVector& x, const ControlVector& u) override;
48  ControlDerivative fu(const StateVector& x, const ControlVector& u) override;
49 
50 private:
51  Eigen::MatrixXd A_;
52  Eigen::MatrixXd B_;
54 };
55 } // namespace exotica
56 
57 #endif // EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_
void ComputeDerivatives(const StateVector &x, const ControlVector &u) override
std::shared_ptr< Scene > ScenePtr
ControlDerivative fu(const StateVector &x, const ControlVector &u) override
Eigen::Matrix< T, NU, 1 > ControlVector
StateVector f(const StateVector &x, const ControlVector &u) override
Eigen::Matrix< T, NX, NX > StateDerivative
StateDerivative fx(const StateVector &x, const ControlVector &u) override
Eigen::Matrix< T, NX, NU > ControlDerivative
double x
Eigen::Matrix< T, NX, 1 > StateVector


exotica_double_integrator_dynamics_solver
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autogenerated on Sat Apr 10 2021 02:35:28