Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

DirectTrajectoryOptimization	Main namespace
BaseClass	Collection of base classes to interface with DirectTrajectoryOptimization
ConstraintsBase	Base class for TO constraints
GenericConstraintsBase	Base Class to define vector of constraints and its derivatives
CostFunctionBolza	Base class to derive cost function of the type J = sum_k( phi_k(x_k,u_k,k) ) + H(X_K)
NumDiffDerivativesBase	This base class provides functionality for numerical differentiation of vector functions
Costs
MinimumEnergyCostBolza	Bolza type cost function minimizing the total energy e = uTRu
MinimumTimeCostBolza	Bolza type cost function minimizing the total trajectory time
MinimumVelocityCostBolza	Bolza type cost function minimizing the total energy e = uTRu
ReachGoalCostBolza	Bolza type cost function minimizing the distance to a goal state
ZeroCostBolza	Cost function with zero intermediate and final costs
Methods	An enumeration of the direct trajectory optimization methods that are available for use with the DirectTrajectoryOptimizationProblem class
Solvers	An enumeration of the solvers that are available for use with the DirectTrajectoryOptimizationProblem class
DirectTrajectoryOptimizationProblem	This class allows users to solve direct trajectory optimization problems. using different solvers (ipopt/snopt) and different direct methods for trajectory optimization
DTOMethodInterface	This class serves as a base interface for inheriting classes
DTODirectTranscription	This class implements Direct transcription
DTOMultipleShooting	This class implements Direct Multiple Shooting
ShootingConstraint	Class handling the defects of a multiple shooting method
nonlinearprogram	This class contains all the information related to the NLP
DTOSolverInterface	This class serves as a base interface for inheriting classes
DTOIpoptInterface	Class interfacing Ipopt NLP with a DirectTrajectoryOptimization problem
DTOSnoptInterface	Class interfacing SNOPT NLP with DTO Problem