Collocation via forward differences (specialized for SE2) More...

Inheritance diagram for mpc_local_planner::ForwardDiffCollocationSE2:

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

corbo::FiniteDifferencesCollocationInterface::Ptr	getInstance () const override

Public Member Functions inherited from corbo::FiniteDifferencesCollocationInterface
virtual	~FiniteDifferencesCollocationInterface ()=default

Additional Inherited Members
Public Types inherited from corbo::FiniteDifferencesCollocationInterface
typedef Eigen::VectorXd	InputVector

typedef std::shared_ptr< FiniteDifferencesCollocationInterface >	Ptr

typedef Eigen::VectorXd	StateVector

typedef std::unique_ptr< FiniteDifferencesCollocationInterface >	UPtr

Static Public Member Functions inherited from corbo::FiniteDifferencesCollocationInterface
static Factory< FiniteDifferencesCollocationInterface > &	getFactory ()

Detailed Description

Collocation via forward differences (specialized for SE2)

Forward differences approximate $\dot{x} = f(x, u)$ in the following manner:

$\frac{x_{k+1} - x_k}{\delta T} = f(x_k, u_k)$

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 67 of file fd_collocation_se2.h.

Member Function Documentation

void mpc_local_planner::ForwardDiffCollocationSE2::computeEqualityConstraint	(	const StateVector &	x1,
		const InputVector &	u1,
		const StateVector &	x2,
		double	dt,
		const corbo::SystemDynamicsInterface &	system,
		Eigen::Ref< Eigen::VectorXd >	error
	)

inlineoverridevirtual

Definition at line 94 of file fd_collocation_se2.h.

corbo::FiniteDifferencesCollocationInterface::Ptr mpc_local_planner::ForwardDiffCollocationSE2::getInstance ( ) const

inlineoverridevirtual

Definition at line 91 of file fd_collocation_se2.h.

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