30 #ifndef EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_ 31 #define EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_ 36 #include <exotica_double_integrator_dynamics_solver/double_integrator_dynamics_solver_initializer.h> 57 #endif // EXOTICA_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_DOUBLE_INTEGRATOR_DYNAMICS_SOLVER_H_
void ComputeDerivatives(const StateVector &x, const ControlVector &u) override
std::shared_ptr< Scene > ScenePtr
ControlDerivative fu(const StateVector &x, const ControlVector &u) override
Eigen::Matrix< T, NU, 1 > ControlVector
StateVector f(const StateVector &x, const ControlVector &u) override
Eigen::Matrix< T, NX, NX > StateDerivative
Integrator last_integrator_
StateDerivative fx(const StateVector &x, const ControlVector &u) override
void AssignScene(ScenePtr scene_in) override
Eigen::Matrix< T, NX, NU > ControlDerivative
Eigen::Matrix< T, NX, 1 > StateVector