DirectTrajectoryOptimization  v0.3
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DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase Class Referenceabstract

This base class provides functionality for numerical differentiation of vector functions. More...

#include <NumDiffDerivativesBase.hpp>

Inheritance diagram for DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase:
DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase DirectTrajectoryOptimization::ShootingConstraint< DIMENSIONS >

Public Member Functions

virtual void fx (const Eigen::VectorXd &, Eigen::VectorXd &)=0
 Overload this method in the derived class to obtain numerical approximation of the gradient.
 
virtual void initialize_num_diff ()=0
 Overload this method to define the local pointers. More...
 

Public Attributes

std::shared_ptr< FunctionOperator > numdifoperator
 
std::shared_ptr
< Eigen::NumericalDiff
< FunctionOperator > > 		numDiff
 

Detailed Description

This base class provides functionality for numerical differentiation of vector functions.

derived classes need to overload the function that requires to be differentiated

Member Function Documentation

virtual void DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase::initialize_num_diff ( )
pure virtual

Overload this method to define the local pointers.

numdifoperator and numDiff need to be defined in this method

Implemented in DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase.

Member Data Documentation

std::shared_ptr<Eigen::NumericalDiff<FunctionOperator> > DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase::numDiff

pointer to Eigen Based NumDiff constructor

Referenced by DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::EvalFxJacobian(), and DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::initialize_num_diff().

std::shared_ptr<FunctionOperator> DirectTrajectoryOptimization::BaseClass::NumDiffDerivativesBase::numdifoperator

pointer to the derived class functor

Referenced by DirectTrajectoryOptimization::BaseClass::GenericConstraintsBase::initialize_num_diff().

The documentation for this class was generated from the following file: