(self, x, u, data: aligator.dynamics.ExplicitDynamicsData)
| 28 | space.integrate(x, self.dt * self.B @ u, data.xnext) |
| 29 | |
| 30 | def dForward(self, x, u, data: aligator.dynamics.ExplicitDynamicsData): |
| 31 | Jx = data.Jx |
| 32 | Ju = data.Ju |
| 33 | v_ = self.dt * self.B @ u |
| 34 | dv_du = self.dt * self.B |
| 35 | |
| 36 | space.Jintegrate(x, v_, Jx, 0) |
| 37 | Jxnext_dv = space.Jintegrate(x, v_, 1) |
| 38 | Ju[:, :] = Jxnext_dv @ dv_du |
| 39 | |
| 40 | def createData(self): |
| 41 | return TwistData(self) |
nothing calls this directly
no outgoing calls
no test coverage detected