cpp_robotics::OCPDynamics

#include <ocp_dynamics.hpp>

Inherited by cpp_robotics::OCPContinuousLinearDynamics, cpp_robotics::OCPContinuousNonlinearDynamics, cpp_robotics::OCPContinuousNonlinearDynamicsAD< Derived >, cpp_robotics::OCPDiscreteLinearDynamics, cpp_robotics::OCPDiscreteNonlinearDynamics

Public Types

	Name
using std::shared_ptr< OCPDynamics >	SharedPtr

Public Functions

	Name
	OCPDynamics(size_t nx, size_t nu)
virtual Eigen::VectorXd	eval(const Eigen::VectorXd & x, const Eigen::VectorXd & u) =0
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

	Name
double	eps

Public Types Documentation

using SharedPtr

using cpp_robotics::OCPDynamics::SharedPtr =  std::shared_ptr<OCPDynamics>;

Public Functions Documentation

function OCPDynamics

inline OCPDynamics(
    size_t nx,
    size_t nu
)

function eval

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

Reimplemented by: cpp_robotics::OCPDiscreteLinearDynamics::eval, cpp_robotics::OCPContinuousLinearDynamics::eval, cpp_robotics::OCPContinuousNonlinearDynamics::eval, cpp_robotics::OCPContinuousNonlinearDynamicsAD::eval

function jacobian_x

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

Reimplemented by: cpp_robotics::OCPDiscreteLinearDynamics::jacobian_x, cpp_robotics::OCPContinuousLinearDynamics::jacobian_x, cpp_robotics::OCPContinuousNonlinearDynamicsAD::jacobian_x

function jacobian_u

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

Reimplemented by: cpp_robotics::OCPDiscreteLinearDynamics::jacobian_u, cpp_robotics::OCPContinuousLinearDynamics::jacobian_u, cpp_robotics::OCPContinuousNonlinearDynamicsAD::jacobian_u

function state_size

inline size_t state_size() const

function input_size

inline size_t input_size() const

Public Attributes Documentation

variable eps

double eps = 1e-6;

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