Struct AdjointRollout 

pub struct AdjointRollout<'a> {
    pub model: &'a Model,
    pub contact: Option<ContactSetup<'a>>,
    pub q0: Vec<f64>,
    pub v0: Vec<f64>,
    pub steps: usize,
    pub ctrl: &'a dyn Fn(usize) -> DVec,
}

A differentiable rollout: model, optional contact, initial state, and an open-loop control schedule.

Fields

model: &'a Model

Topology, gravity, timestep, joint damping, and nominal body inertias (the π the gradient is taken at).

contact: Option<ContactSetup<'a>>

Optional ground contact.

q0: Vec<f64>

Initial joint positions, in super::step::DofLayout packing (length DofLayout::of(model).nq, which exceeds Model::nq when the model has spherical or free joints).

v0: Vec<f64>

Initial joint velocities (length nv).

steps: usize

Number of semi-implicit Euler steps.

ctrl: &'a dyn Fn(usize) -> DVec

Open-loop control at step t (length nv; must not read the state).