finite_differences Namespace Reference

Functions
float	cost (const VectorT &x, const VectorT &u)
void	costD (const VectorT &x, const VectorT &u, Deriv &d)
void	dynamics (const VectorT &x, const VectorT &u, VectorT &xNext)
void	dynamicsD (const VectorT &x, const VectorT &u, Deriv &d)
void	fu_ (const VectorT &x, const VectorT &u, MatrixT &fu)
void	fx_ (const VectorT &x, const VectorT &u, MatrixT &fx)
void	setBaseFunctions (Dynamics d, CostFunction c)
Variables
static CostFunction	cost_
static float	delta = 1e-4
static Dynamics	dyn_

---

Function Documentation

float finite_differences::cost	(	const VectorT &	x,
		const VectorT &	u
	)

Definition at line 117 of file finite_differences.cpp.

void finite_differences::costD	(	const VectorT &	x,
		const VectorT &	u,
		Deriv &	d
	)

Definition at line 121 of file finite_differences.cpp.

void finite_differences::dynamics	(	const VectorT &	x,
		const VectorT &	u,
		VectorT &	xNext
	)

Definition at line 19 of file finite_differences.cpp.

void finite_differences::dynamicsD	(	const VectorT &	x,
		const VectorT &	u,
		Deriv &	d
	)

Definition at line 92 of file finite_differences.cpp.

void finite_differences::fu_	(	const VectorT &	x,
		const VectorT &	u,
		MatrixT &	fu
	)

Definition at line 24 of file finite_differences.cpp.

void finite_differences::fx_	(	const VectorT &	x,
		const VectorT &	u,
		MatrixT &	fx
	)

Definition at line 42 of file finite_differences.cpp.

void finite_differences::setBaseFunctions	(	Dynamics	d,
		CostFunction	c
	)

Definition at line 14 of file finite_differences.cpp.

---

Variable Documentation

CostFunction finite_differences::cost_ [static]

Definition at line 10 of file finite_differences.cpp.

float finite_differences::delta = 1e-4 [static]

Definition at line 11 of file finite_differences.cpp.

Dynamics finite_differences::dyn_ [static]

Definition at line 9 of file finite_differences.cpp.