| 22 | |
| 23 | |
| 24 | class TwistModelExplicit(aligator.dynamics.ExplicitDynamicsModel): |
| 25 | def __init__(self, space, nu, dt: float): |
| 26 | B = np.eye(nu) |
| 27 | self.B = B |
| 28 | self.dt = dt |
| 29 | super().__init__(space, nu) |
| 30 | |
| 31 | def __getinitargs__(self): |
| 32 | return (self.space, self.nu, self.dt) |
| 33 | |
| 34 | def forward(self, x, u, data: aligator.dynamics.ExplicitDynamicsData): |
| 35 | self.space.integrate(x, self.dt * self.B @ u, data.xnext) |
| 36 | |
| 37 | def dForward(self, x, u, data: aligator.dynamics.ExplicitDynamicsData): |
| 38 | Jx = data.Jx |
| 39 | Ju = data.Ju |
| 40 | v_ = self.dt * self.B @ u |
| 41 | dv_du = self.dt * self.B |
| 42 | |
| 43 | self.space.Jintegrate(x, v_, Jx, 0) |
| 44 | Jxnext_dv = self.space.Jintegrate(x, v_, 1) |
| 45 | Ju[:, :] = Jxnext_dv @ dv_du |
| 46 | |
| 47 | |
| 48 | @pytest.mark.skipif( |
no outgoing calls