corbo::QuadratureCollocationInterface Class Reference

#include <quadrature_interface.h>

Inheritance diagram for corbo::QuadratureCollocationInterface:

Public Types
using	BinaryFunction = const std::function< void(const Eigen::VectorXd &, const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)>
using	Ptr = std::shared_ptr< QuadratureCollocationInterface >
using	UnaryFunction = const std::function< void(const Eigen::VectorXd &, Eigen::Ref< Eigen::VectorXd >)>
using	UPtr = std::unique_ptr< QuadratureCollocationInterface >
Public Types inherited from corbo::CollocationInterface
using	InputVector = Eigen::VectorXd
using	Ptr = std::shared_ptr< CollocationInterface >
using	StateVector = Eigen::VectorXd
using	UPtr = std::unique_ptr< CollocationInterface >
Public Types inherited from corbo::DynamicsEvalInterface
using	InputVector = Eigen::VectorXd
using	Ptr = std::shared_ptr< DynamicsEvalInterface >
using	StateVector = Eigen::VectorXd
using	UPtr = std::unique_ptr< DynamicsEvalInterface >

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...
void	computeEqualityConstraint (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > error)
void	computeEqualityConstraint (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > error)
virtual bool	computeIntermediateControls (const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &u2, std::vector< Eigen::VectorXd *> &intermediate_u)=0
DynamicsEvalInterface::Ptr	getInstance () const override=0
	Return a newly created shared instance of the implemented class. More...
virtual int	getNumIntermediateControls () const =0
virtual int	getNumIntermediatePoints () const =0
virtual int	getNumIntermediateStates () const =0
virtual bool	interpolate (const std::vector< const Eigen::VectorXd *> &x1_points, const std::vector< const Eigen::VectorXd *> &u1_points, const Eigen::VectorXd &u2, const Eigen::VectorXd &x2, double t1, double dt, double dt_interp, const SystemDynamicsInterface &system, bool skip_u2_x2, TimeSeries &ts_x, TimeSeries &ts_u)=0
bool	interpolate (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &x2, const Eigen::Ref< const Eigen::VectorXd > &u2, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls) override=0
virtual bool	isIntermediateControlSubjectToOptim () const =0
virtual bool	isSupportingCompressedStatesMode () const =0
virtual void	quadrature (const std::vector< const Eigen::VectorXd *> &x1_points, const std::vector< const Eigen::VectorXd *> &u1_points, const Eigen::VectorXd &u2, const Eigen::VectorXd &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value)=0
	Allocate memory for a given state dimension. More...
virtual void	quadrature (const std::vector< const Eigen::VectorXd *> &x1_points, const std::vector< const Eigen::VectorXd *> &u1_points, const Eigen::VectorXd &u2, const Eigen::VectorXd &x2, double dt, const BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &intermediate_x)=0
virtual void	quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, const std::vector< Eigen::VectorXd *> &intermediate_x, const std::vector< Eigen::VectorXd *> &intermediate_u, Eigen::Ref< Eigen::VectorXd > integral_value, Eigen::Ref< Eigen::VectorXd > interm_x_error)=0
virtual void	quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, const std::vector< Eigen::VectorXd *> &intermediate_u, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &intermediate_x)=0
virtual void	quadrature (const StateVector &x1, const InputVector &u1, const StateVector &x2, const InputVector &u2, double dt, const SystemDynamicsInterface &system, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &intermediate_x, std::vector< Eigen::VectorXd *> &intermediate_u)=0
virtual void	quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const std::vector< Eigen::VectorXd *> &intermediate_x, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &x2, double dt, const UnaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &intermediate_x)=0
virtual void	quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &x2, const Eigen::Ref< const Eigen::VectorXd > &u2, double dt, const BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &x2, const Eigen::Ref< const Eigen::VectorXd > &u2, double dt, const std::vector< Eigen::VectorXd *> &intermediate_x, const std::vector< Eigen::VectorXd *> &intermediate_u, const BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value)=0
virtual void	quadrature (const Eigen::Ref< const Eigen::VectorXd > &x1, const Eigen::Ref< const Eigen::VectorXd > &u1, const Eigen::Ref< const Eigen::VectorXd > &x2, const Eigen::Ref< const Eigen::VectorXd > &u2, double dt, const BinaryFunction &fun, Eigen::Ref< Eigen::VectorXd > integral_value, std::vector< Eigen::VectorXd *> &intermediate_x, std::vector< Eigen::VectorXd *> &intermediate_u)=0
virtual	~QuadratureCollocationInterface ()
	Virtual destructor. More...
Public Member Functions inherited from corbo::CollocationInterface
virtual	~CollocationInterface ()
	Virtual destructor. More...
Public Member Functions inherited from corbo::DynamicsEvalInterface
virtual bool	interpolate (const std::vector< const Eigen::VectorXd *> &x, const std::vector< const Eigen::VectorXd *> &u, double dt, const SystemDynamicsInterface &system, const Range &range, std::vector< Eigen::VectorXd > &states, std::vector< Eigen::VectorXd > &controls)
virtual	~DynamicsEvalInterface ()
	Virtual destructor. More...

Additional Inherited Members
Static Public Member Functions inherited from corbo::DynamicsEvalInterface
static Factory< DynamicsEvalInterface > &	getFactory ()
	Get access to the accociated factory. More...

Detailed Description

Definition at line 43 of file quadrature_interface.h.

Member Typedef Documentation

BinaryFunction

using corbo::QuadratureCollocationInterface::BinaryFunction = const std::function<void(const Eigen::VectorXd&, const Eigen::VectorXd&, Eigen::Ref<Eigen::VectorXd>)>

Definition at line 50 of file quadrature_interface.h.

Ptr

using corbo::QuadratureCollocationInterface::Ptr = std::shared_ptr<QuadratureCollocationInterface>

Definition at line 46 of file quadrature_interface.h.

UnaryFunction

using corbo::QuadratureCollocationInterface::UnaryFunction = const std::function<void(const Eigen::VectorXd&, Eigen::Ref<Eigen::VectorXd>)>

Definition at line 49 of file quadrature_interface.h.

UPtr

using corbo::QuadratureCollocationInterface::UPtr = std::unique_ptr<QuadratureCollocationInterface>

Definition at line 47 of file quadrature_interface.h.

Constructor & Destructor Documentation

~QuadratureCollocationInterface()

virtual corbo::QuadratureCollocationInterface::~QuadratureCollocationInterface ( )

inlinevirtual

Virtual destructor.

Definition at line 53 of file quadrature_interface.h.

Member Function Documentation

computeEqualityConstraint() [1/3]

void corbo::QuadratureCollocationInterface::computeEqualityConstraint ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  error  )

inlineoverridevirtual

Compute differentiation error (system dynamics)

.

Parameters

[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::CollocationInterface.

Definition at line 142 of file quadrature_interface.h.

computeEqualityConstraint() [2/3]

void corbo::QuadratureCollocationInterface::computeEqualityConstraint ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, const InputVector &  u2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  error  )

inline

Definition at line 149 of file quadrature_interface.h.

computeEqualityConstraint() [3/3]

void corbo::QuadratureCollocationInterface::computeEqualityConstraint ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  x2, double  dt, const UnaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  error  )

inline

Definition at line 156 of file quadrature_interface.h.

computeIntermediateControls()

virtual bool corbo::QuadratureCollocationInterface::computeIntermediateControls ( const Eigen::Ref< const Eigen::VectorXd > &  u1, const Eigen::Ref< const Eigen::VectorXd > &  u2, std::vector< Eigen::VectorXd *> &  intermediate_u  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

getInstance()

DynamicsEvalInterface::Ptr corbo::QuadratureCollocationInterface::getInstance ( ) const

overridepure virtual

Return a newly created shared instance of the implemented class.

Implements corbo::CollocationInterface.

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

getNumIntermediateControls()

virtual int corbo::QuadratureCollocationInterface::getNumIntermediateControls ( ) const

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

getNumIntermediatePoints()

virtual int corbo::QuadratureCollocationInterface::getNumIntermediatePoints ( ) const

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

getNumIntermediateStates()

virtual int corbo::QuadratureCollocationInterface::getNumIntermediateStates ( ) const

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

interpolate() [1/2]

virtual bool corbo::QuadratureCollocationInterface::interpolate ( const std::vector< const Eigen::VectorXd *> &  x1_points, const std::vector< const Eigen::VectorXd *> &  u1_points, const Eigen::VectorXd &  u2, const Eigen::VectorXd &  x2, double  t1, double  dt, double  dt_interp, const SystemDynamicsInterface &  system, bool  skip_u2_x2, TimeSeries &  ts_x, TimeSeries &  ts_u  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

interpolate() [2/2]

bool corbo::QuadratureCollocationInterface::interpolate ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  u1, const Eigen::Ref< const Eigen::VectorXd > &  x2, const Eigen::Ref< const Eigen::VectorXd > &  u2, double  dt, const SystemDynamicsInterface &  system, const Range &  range, std::vector< Eigen::VectorXd > &  states, std::vector< Eigen::VectorXd > &  controls  )

overridepure virtual

Reimplemented from corbo::CollocationInterface.

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

isIntermediateControlSubjectToOptim()

virtual bool corbo::QuadratureCollocationInterface::isIntermediateControlSubjectToOptim ( ) const

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

isSupportingCompressedStatesMode()

virtual bool corbo::QuadratureCollocationInterface::isSupportingCompressedStatesMode ( ) const

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [1/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const std::vector< const Eigen::VectorXd *> &  x1_points, const std::vector< const Eigen::VectorXd *> &  u1_points, const Eigen::VectorXd &  u2, const Eigen::VectorXd &  x2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Allocate memory for a given state dimension.

Remarks

This method is optional and not guaranteed to be called, but if so this might speed up computation.

Parameters

[in]

state_dim

Expected dimension of the state vector

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [2/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const std::vector< const Eigen::VectorXd *> &  x1_points, const std::vector< const Eigen::VectorXd *> &  u1_points, const Eigen::VectorXd &  u2, const Eigen::VectorXd &  x2, double  dt, const BinaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [3/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [4/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, const InputVector &  u2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [5/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  integral_value, std::vector< Eigen::VectorXd *> &  intermediate_x  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [6/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, const InputVector &  u2, double  dt, const SystemDynamicsInterface &  system, const std::vector< Eigen::VectorXd *> &  intermediate_x, const std::vector< Eigen::VectorXd *> &  intermediate_u, Eigen::Ref< Eigen::VectorXd >  integral_value, Eigen::Ref< Eigen::VectorXd >  interm_x_error  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [7/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, const InputVector &  u2, double  dt, const SystemDynamicsInterface &  system, const std::vector< Eigen::VectorXd *> &  intermediate_u, Eigen::Ref< Eigen::VectorXd >  integral_value, std::vector< Eigen::VectorXd *> &  intermediate_x  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [8/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const StateVector &  x1, const InputVector &  u1, const StateVector &  x2, const InputVector &  u2, double  dt, const SystemDynamicsInterface &  system, Eigen::Ref< Eigen::VectorXd >  integral_value, std::vector< Eigen::VectorXd *> &  intermediate_x, std::vector< Eigen::VectorXd *> &  intermediate_u  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [9/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  x2, double  dt, const UnaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [10/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  x2, double  dt, const std::vector< Eigen::VectorXd *> &  intermediate_x, const UnaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [11/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  x2, double  dt, const UnaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value, std::vector< Eigen::VectorXd *> &  intermediate_x  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [12/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  u1, const Eigen::Ref< const Eigen::VectorXd > &  x2, const Eigen::Ref< const Eigen::VectorXd > &  u2, double  dt, const BinaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [13/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  u1, const Eigen::Ref< const Eigen::VectorXd > &  x2, const Eigen::Ref< const Eigen::VectorXd > &  u2, double  dt, const std::vector< Eigen::VectorXd *> &  intermediate_x, const std::vector< Eigen::VectorXd *> &  intermediate_u, const BinaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

quadrature() [14/14]

virtual void corbo::QuadratureCollocationInterface::quadrature ( const Eigen::Ref< const Eigen::VectorXd > &  x1, const Eigen::Ref< const Eigen::VectorXd > &  u1, const Eigen::Ref< const Eigen::VectorXd > &  x2, const Eigen::Ref< const Eigen::VectorXd > &  u2, double  dt, const BinaryFunction &  fun, Eigen::Ref< Eigen::VectorXd >  integral_value, std::vector< Eigen::VectorXd *> &  intermediate_x, std::vector< Eigen::VectorXd *> &  intermediate_u  )

pure virtual

Implemented in corbo::QuadratureHermiteSimpson, corbo::QuadratureHermiteSimpsonLinearControl, corbo::QuadratureTrapezoidalRule, and corbo::QuadratureRectangleRule.

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

• quadrature_interface.h