6 template <
typename precision,
int stateSize,
int commandSize>
9 typedef Eigen::Matrix<precision, stateSize, 1>
stateVec_t;
11 typedef Eigen::Matrix<precision, stateSize, stateSize>
stateMat_t;
12 typedef Eigen::Matrix<precision, stateSize, stateSize>
stateTens_t[stateSize];
17 typedef Eigen::Matrix<precision, commandSize, commandSize>
commandMat_t;
18 typedef Eigen::Matrix<precision, commandSize, commandSize>
23 typedef Eigen::Matrix<precision, stateSize, commandSize>
25 typedef Eigen::Matrix<precision, stateSize, commandSize>
28 typedef Eigen::Matrix<precision, commandSize, stateSize>
30 typedef Eigen::Matrix<precision, commandSize, stateSize>
32 typedef Eigen::Matrix<precision, stateSize, stateSize>
34 typedef Eigen::Matrix<precision, commandSize, commandSize>
Definition: dynamicmodel.hh:7
unsigned int getStateNb()
Definition: dynamicmodel.hh:70
stateR_commandC_stateD_t fux
Definition: dynamicmodel.hh:54
virtual commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)=0
stateMat_t fx
Definition: dynamicmodel.hh:49
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
Definition: dynamicmodel.hh:31
commandVec_t lowerCommandBounds
Definition: dynamicmodel.hh:46
Eigen::Matrix< precision, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
Definition: dynamicmodel.hh:29
Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
Definition: dynamicmodel.hh:10
stateR_commandC_t fu
Definition: dynamicmodel.hh:51
stateR_commandC_commandD_t fuu
Definition: dynamicmodel.hh:52
stateTens_t & getfxx()
Definition: dynamicmodel.hh:75
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:22
stateR_commandC_t & getfu()
Definition: dynamicmodel.hh:76
double dt
Definition: dynamicmodel.hh:44
virtual stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)=0
stateR_stateC_commandD_t & getfxu()
Definition: dynamicmodel.hh:78
Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:11
Eigen::Matrix< precision, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:15
Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
Definition: dynamicmodel.hh:12
stateR_stateC_commandD_t fxu
Definition: dynamicmodel.hh:53
commandVec_t upperCommandBounds
Definition: dynamicmodel.hh:47
commandVec_t & getLowerCommandBounds()
Definition: dynamicmodel.hh:72
virtual commandMat_t computeTensorContuu(const stateVec_t &nextVx)=0
virtual void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)=0
Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
Definition: dynamicmodel.hh:16
stateR_commandC_stateD_t & getfux()
Definition: dynamicmodel.hh:79
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
commandVec_t & getUpperCommandBounds()
Definition: dynamicmodel.hh:73
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
Definition: dynamicmodel.hh:26
Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
Definition: dynamicmodel.hh:19
Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:17
unsigned int getCommandNb()
Definition: dynamicmodel.hh:71
unsigned int commandNb
Definition: dynamicmodel.hh:43
virtual stateMat_t computeTensorContxx(const stateVec_t &nextVx)=0
Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
Definition: dynamicmodel.hh:33
unsigned int stateNb
Definition: dynamicmodel.hh:42
stateTens_t fxx
Definition: dynamicmodel.hh:50
stateR_commandC_commandD_t & getfuu()
Definition: dynamicmodel.hh:77
stateMat_t & getfx()
Definition: dynamicmodel.hh:74
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
Definition: dynamicmodel.hh:24
Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
Definition: dynamicmodel.hh:35