cpp_robotics::OptimalControlProblem

#include <optimal_control_problem.hpp>

Public Functions

	Name
	OptimalControlProblem() =default
	OptimalControlProblem(OCPDynamics::SharedPtr dynamics, OCPCost::SharedPtr cost)
	OptimalControlProblem(OCPDynamics::SharedPtr dynamics, OCPCost::SharedPtr cost, const OCPConstraintArray & constraints)
size_t	input_size() const
size_t	state_size() const
size_t	horizon() const

Public Attributes

	Name
std::shared_ptr< OCPDynamics >	dynamics
std::shared_ptr< OCPCost >	cost
OCPConstraintArray	constraints

Public Functions Documentation

function OptimalControlProblem

OptimalControlProblem() =default

function OptimalControlProblem

inline OptimalControlProblem(
    OCPDynamics::SharedPtr dynamics,
    OCPCost::SharedPtr cost
)

function OptimalControlProblem

inline OptimalControlProblem(
    OCPDynamics::SharedPtr dynamics,
    OCPCost::SharedPtr cost,
    const OCPConstraintArray & constraints
)

function input_size

inline size_t input_size() const

function state_size

inline size_t state_size() const

function horizon

inline size_t horizon() const

Public Attributes Documentation

variable dynamics

std::shared_ptr< OCPDynamics > dynamics;

variable cost

std::shared_ptr< OCPCost > cost;

variable constraints

OCPConstraintArray constraints;

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