Go to the documentation of this file.00001 #ifndef _DYNAMICS_H_
00002 #define _DYNAMICS_H_
00003
00004 #include <mpc/types.h>
00005 #include <functional>
00006
00007 namespace MPC {
00008
00009 static CostFunction cost;
00010 static CostFunctionD costd;
00011 static Dynamics dyn;
00012 static DynamicsD dynd;
00013
00014 bool setDynamicFunction(Dynamics f, DynamicsD fd);
00015 bool setCostFunction(CostFunction f, CostFunctionD fd);
00016
00017 float dynamicsAndCost(const VectorT &x, const VectorT &u);
00018 void dynamicsAndCost(const VectorT &x, const VectorT &u, VectorT &xNew, float &cNew);
00019 void dynamicsAndCost(const VectorT &x, const VectorT &u, MatrixT::ColXpr xNew, float &cNew);
00020 void dynamicsAndCost(Trajectory &t);
00021 void dynamicsAndCostDerivative(Trajectory &t, TrajectoryDeriv &d);
00022 }
00023
00024 #endif
