DirectTrajectoryOptimization::DTOMethodInterface< DIMENSIONS > Class Template Reference

This class serves as a base interface for inheriting classes. More...

#include <base_method_interface.hpp>

Inheritance diagram for DirectTrajectoryOptimization::DTOMethodInterface< DIMENSIONS >:

Public Member Functions
	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

template<typename DIMENSIONS>
class DirectTrajectoryOptimization::DTOMethodInterface< DIMENSIONS >

This class serves as a base interface for inheriting classes.

Inheriting classes are responsible for implementing interfaces for DTO methods (eg. Multiple Shooting/Direct Transcription).

Note

An instance of this class should never be created.

Constructor & Destructor Documentation

template<typename DIMENSIONS >

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.

This constructor is not private in order to allow derived classes to use the constructor.

Note

This should be private in order to prevent user to create objects (SOLVE!)

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

• /home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/method_interfaces/base_method_interface.hpp
• /home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/method_interfaces/bmi_implementation.hpp