00001 #ifndef _EXAMPLES_EUCLIDEAN_H_ 00002 #define _EXAMPLES_EUCLIDEAN_H_ 00003 00004 #include <mpc/types.h> 00005 00006 using namespace MPC; 00007 00008 namespace euclidean { 00009 typedef std::vector<VectorT> EuclideanObstacles; 00010 00011 void setGoal(const VectorT &g); 00012 void setObstacles(const EuclideanObstacles &obs); 00013 EuclideanObstacles &getObstacles(); 00014 00015 void dynamics(const VectorT &x, const VectorT &u, VectorT &xNext); 00016 void dynamicsD(const VectorT &x, const VectorT &u, Deriv &d); 00017 float cost(const VectorT &x, const VectorT &u); 00018 void costD(const VectorT &x, const VectorT &u, Deriv &d); 00019 } 00020 00021 00022 #endif
