cpp_robotics::OCPContinuousNonlinearDynamics

#include <ocp_dynamics.hpp>

Inherits from cpp_robotics::OCPDynamics

Public Functions

	Name
	OCPContinuousNonlinearDynamics(OCPIntegrationMethod method, size_t nx, size_t nu, double dt)
virtual Eigen::VectorXd	dynamics(const Eigen::VectorXd & x, const Eigen::VectorXd & u) =0
virtual Eigen::VectorXd	eval(const Eigen::VectorXd & x, const Eigen::VectorXd & u) override
double	dt() const

Additional inherited members

Public Types inherited from cpp_robotics::OCPDynamics

	Name
using std::shared_ptr< OCPDynamics >	SharedPtr

Public Functions inherited from cpp_robotics::OCPDynamics

	Name
	OCPDynamics(size_t nx, size_t nu)
virtual Eigen::MatrixXd	jacobian_x(const Eigen::VectorXd & x, const Eigen::VectorXd & u)
virtual Eigen::MatrixXd	jacobian_u(const Eigen::VectorXd & x, const Eigen::VectorXd & u)
size_t	state_size() const
size_t	input_size() const

Public Attributes inherited from cpp_robotics::OCPDynamics

	Name
double	eps

Public Functions Documentation

function OCPContinuousNonlinearDynamics

inline OCPContinuousNonlinearDynamics(
    OCPIntegrationMethod method,
    size_t nx,
    size_t nu,
    double dt
)

function dynamics

virtual Eigen::VectorXd dynamics(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) =0

function eval

inline virtual Eigen::VectorXd eval(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u
) override

Reimplements: cpp_robotics::OCPDynamics::eval

function dt

inline double dt() const

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Updated on 2024-05-28 at 06:55:39 +0000