cpp_robotics::OCPContinuousNonlinearDynamicsAD

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#include <ocp_dynamics.hpp>

Inherits from cpp_robotics::OCPDynamics

Public Functions

	Name
	OCPContinuousNonlinearDynamicsAD(OCPIntegrationMethod method, size_t nx, size_t nu, double dt)
virtual Eigen::VectorXd	eval(const Eigen::VectorXd & x, const Eigen::VectorXd & u) override
virtual Eigen::MatrixXd	jacobian_x(const Eigen::VectorXd & x, const Eigen::VectorXd & u) override
virtual Eigen::MatrixXd	jacobian_u(const Eigen::VectorXd & x, const Eigen::VectorXd & u) override

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)
size_t	state_size() const
size_t	input_size() const

Public Attributes inherited from cpp_robotics::OCPDynamics

	Name
double	eps

Detailed Description

template <class Derived >
class cpp_robotics::OCPContinuousNonlinearDynamicsAD;

Public Functions Documentation

function OCPContinuousNonlinearDynamicsAD

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

function eval

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

Reimplements: cpp_robotics::OCPDynamics::eval

function jacobian_x

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

Reimplements: cpp_robotics::OCPDynamics::jacobian_x

function jacobian_u

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

Reimplements: cpp_robotics::OCPDynamics::jacobian_u

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