This class implements Direct transcription. More...

Inheritance diagram for DirectTrajectoryOptimization::DTODirectTranscription< DIMENSIONS >:

Public Member Functions
	DTODirectTranscription (std::vector< std::shared_ptr< DynamicsBase< DIMENSIONS > > > dynamics, std::vector< std::shared_ptr< DerivativesBaseDS< DIMENSIONS > > > derivatives, std::shared_ptr< BaseClass::CostFunctionBase< DIMENSIONS > > costFunction, std::vector< std::shared_ptr< BaseClass::ConstraintsBase< DIMENSIONS > > > constraints, Eigen::Vector2d duration, int number_of_nodes, bool methodVerbose)
	Constructor of DTODirectTranscription. More...

Public Member Functions inherited from DirectTrajectoryOptimization::DTOMethodInterface< DIMENSIONS >
	DTOMethodInterface (std::vector< std::shared_ptr< DynamicsBase< DIMENSIONS > > > dynamics, std::vector< std::shared_ptr< DerivativesBaseDS< DIMENSIONS > > > derivatives, std::shared_ptr< BaseClass::CostFunctionBase< DIMENSIONS > > costFunction, std::vector< std::shared_ptr< BaseClass::ConstraintsBase< DIMENSIONS > > > constraints, Eigen::Vector2d duration, int number_of_nodes, bool methodVerbose)
	Construct an instance of the DTOMethodInterface class. More...

Detailed Description

This class implements Direct transcription.

Implementing interfaces for DTO methods

Constructor & Destructor Documentation

template<class DIMENSIONS >

DirectTrajectoryOptimization::DTODirectTranscription< DIMENSIONS >::DTODirectTranscription	(	std::vector< std::shared_ptr< DynamicsBase< DIMENSIONS > > >	dynamics,
		std::vector< std::shared_ptr< DerivativesBaseDS< DIMENSIONS > > >	derivatives,
		std::shared_ptr< BaseClass::CostFunctionBase< DIMENSIONS > >	costFunction,
		std::vector< std::shared_ptr< BaseClass::ConstraintsBase< DIMENSIONS > > >	constraints,
		Eigen::Vector2d	duration,
		int	number_of_nodes,
		bool	methodVerbose
	)

inline

Parameters

[in]	dynamics	The vector of dynamics
[in]	derivatives	The vector of derivatives
[in]	costFunction	The cost function
[in]	constraints	The vector of constraints
[in]	duration
[in]	number_of_nodes	The number of nodes for discretization
[in]	methodVerbose	The flag for method verbosity

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

/home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/method_interfaces/direct_transcription/direct_transcription.hpp
/home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/method_interfaces/direct_transcription/direct_transcription_implementation.hpp