| 6 | |
| 7 | |
| 8 | class CustomFunction(aligator.StageFunction): |
| 9 | def __init__(self, space: aligator.manifolds.ManifoldAbstract, nu): |
| 10 | self.space = space |
| 11 | ndx = space.ndx |
| 12 | super().__init__(ndx, nu, ndx) |
| 13 | |
| 14 | def __getinitargs__(self): |
| 15 | return (self.space, self.nu) |
| 16 | |
| 17 | def evaluate(self, x, u, data: aligator.StageFunctionData): |
| 18 | data.value[:] = self.space.difference(x, self.space.neutral()) |
| 19 | |
| 20 | def computeJacobians(self, x, u, data: aligator.StageFunctionData): |
| 21 | data.Jx[:] = self.space.Jdifference(x, self.space.neutral(), 0) |
| 22 | |
| 23 | |
| 24 | class TwistModelExplicit(aligator.dynamics.ExplicitDynamicsModel): |
no outgoing calls