finite_differences.cpp File Reference

#include <mpc/finite_differences.h>
#include <cmath>

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Namespaces
namespace	finite_differences
Functions
float	finite_differences::cost (const VectorT &x, const VectorT &u)
void	finite_differences::costD (const VectorT &x, const VectorT &u, Deriv &d)
void	finite_differences::dynamics (const VectorT &x, const VectorT &u, VectorT &xNext)
void	finite_differences::dynamicsD (const VectorT &x, const VectorT &u, Deriv &d)
void	finite_differences::fu_ (const VectorT &x, const VectorT &u, MatrixT &fu)
void	finite_differences::fx_ (const VectorT &x, const VectorT &u, MatrixT &fx)
void	finite_differences::setBaseFunctions (Dynamics d, CostFunction c)
Variables
static CostFunction	finite_differences::cost_
static float	finite_differences::delta = 1e-4
static Dynamics	finite_differences::dyn_