finite_differences.h
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00001 #ifndef _FINITE_DIFFERENCES_H_
00002 #define _FINITE_DIFFERENCES_H_
00003 
00004 #include <mpc/types.h>
00005 
00006 using namespace MPC;
00007 
00008 namespace finite_differences {
00009         void setBaseFunctions(Dynamics d, CostFunction c);
00010 
00011         void dynamics(const VectorT &x, const VectorT &u, VectorT &xNext);
00012         void dynamicsD(const VectorT &x, const VectorT &u, Deriv &d);
00013         float cost(const VectorT &x, const VectorT &u);
00014         void costD(const VectorT &x, const VectorT &u, Deriv &d);
00015 }
00016 
00017 
00018 #endif
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mpc
Author(s): Jost Tobias Springenberg
autogenerated on Wed Dec 26 2012 16:21:13