00001 #ifndef _FINITE_DIFFERENCES_H_ 00002 #define _FINITE_DIFFERENCES_H_ 00003 00004 #include <mpc/types.h> 00005 00006 using namespace MPC; 00007 00008 namespace finite_differences { 00009 void setBaseFunctions(Dynamics d, CostFunction c); 00010 00011 void dynamics(const VectorT &x, const VectorT &u, VectorT &xNext); 00012 void dynamicsD(const VectorT &x, const VectorT &u, Deriv &d); 00013 float cost(const VectorT &x, const VectorT &u); 00014 void costD(const VectorT &x, const VectorT &u, Deriv &d); 00015 } 00016 00017 00018 #endif
