Function stomp::generateFiniteDifferenceMatrix

• Defined in File utils.h

Function Documentation

void stomp::generateFiniteDifferenceMatrix(int num_time_steps, DerivativeOrders::DerivativeOrder order, double dt, Eigen::MatrixXd &diff_matrix)

Generate a finite difference matrix based on the input DerivativeOrder.

Parameters:

• num_time_steps – The number of timesteps

• order – The differentiation order

• dt – The timestep in seconds

• diff_matrix – The generated finite difference matrix