Collocation via backward differences. More...
#include <finite_differences_collocation.h>
Public Member Functions | |
void | computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error) override |
Compute differentiation error (system dynamics) More... | |
FiniteDifferencesCollocationInterface::Ptr | getInstance () const override |
Return a newly allocated instances of the inherited class. More... | |
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virtual | ~FiniteDifferencesCollocationInterface ()=default |
Virtual destructor. More... | |
Additional Inherited Members | |
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using | InputVector = Eigen::VectorXd |
using | Ptr = std::shared_ptr< FiniteDifferencesCollocationInterface > |
using | StateVector = Eigen::VectorXd |
using | UPtr = std::unique_ptr< FiniteDifferencesCollocationInterface > |
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static Factory< FiniteDifferencesCollocationInterface > & | getFactory () |
Get access to the associated factory. More... | |
Collocation via backward differences.
Backward differences approximate in the following manner:
Definition at line 153 of file finite_differences_collocation.h.
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inlineoverridevirtual |
Compute differentiation error (system dynamics)
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[in] | x1 | Initial state vector [SystemDynamicsInterface::getStateDimension() x 1] |
[in] | u1 | Constant control input vector [SystemDynamicsInterface::getInputDimension() x 1] |
[in] | x2 | Final state vector [SystemDynamicsInterface::getStateDimension() x 1] |
[in] | dt | Time interval length |
[in] | system | System dynamics object |
[out] | error | Resulting error [SystemDynamicsInterface::getStateDimension() x 1] (must be preallocated) |
Implements corbo::FiniteDifferencesCollocationInterface.
Definition at line 160 of file finite_differences_collocation.h.
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inlineoverridevirtual |
Return a newly allocated instances of the inherited class.
Implements corbo::FiniteDifferencesCollocationInterface.
Definition at line 157 of file finite_differences_collocation.h.