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6 template<
typename precision,
int stateSize,
int commandSize>
12 typedef Eigen::Matrix<precision,stateSize,stateSize>
stateMat_t;
13 typedef Eigen::Matrix<precision,stateSize,stateSize>
stateTens_t[stateSize];
18 typedef Eigen::Matrix<precision,commandSize,commandSize>
commandMat_t;
19 typedef Eigen::Matrix<precision,commandSize,commandSize>
commandTens_t[commandSize];
80 #endif // DYNAMICMODEL_H
stateR_stateC_commandD_t & getfxu()
Definition: dynamicmodel.hh:76
unsigned int getStateNb()
Definition: dynamicmodel.hh:68
Definition: dynamicmodel.hh:7
stateR_commandC_commandD_t & getfuu()
Definition: dynamicmodel.hh:75
Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
Definition: dynamicmodel.hh:13
stateR_stateC_commandD_t fxu
Definition: dynamicmodel.hh:49
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
Definition: dynamicmodel.hh:28
stateR_commandC_t & getfu()
Definition: dynamicmodel.hh:74
stateMat_t & getfx()
Definition: dynamicmodel.hh:72
stateR_commandC_commandD_t fuu
Definition: dynamicmodel.hh:48
Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
Definition: dynamicmodel.hh:19
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
Definition: dynamicmodel.hh:29
double dt
Definition: dynamicmodel.hh:40
Eigen::Matrix< precision, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:16
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:27
virtual commandMat_t computeTensorContuu(const stateVec_t &nextVx)=0
virtual commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)=0
commandVec_t & getLowerCommandBounds()
Definition: dynamicmodel.hh:70
stateR_commandC_t fu
Definition: dynamicmodel.hh:47
stateR_commandC_stateD_t fux
Definition: dynamicmodel.hh:50
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
Definition: dynamicmodel.hh:26
stateR_commandC_stateD_t & getfux()
Definition: dynamicmodel.hh:77
Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:12
commandVec_t lowerCommandBounds
Definition: dynamicmodel.hh:42
unsigned int commandNb
Definition: dynamicmodel.hh:39
Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:18
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
Definition: dynamicmodel.hh:25
virtual stateVec_t computeNextState(double &dt, const stateVec_t &X, const commandVec_t &U)=0
Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
Definition: dynamicmodel.hh:17
virtual void computeModelDeriv(double &dt, const stateVec_t &X, const commandVec_t &U)=0
unsigned int getCommandNb()
Definition: dynamicmodel.hh:69
Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
Definition: dynamicmodel.hh:11
stateMat_t fx
Definition: dynamicmodel.hh:45
Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
Definition: dynamicmodel.hh:31
stateTens_t & getfxx()
Definition: dynamicmodel.hh:73
virtual stateMat_t computeTensorContxx(const stateVec_t &nextVx)=0
unsigned int stateNb
Definition: dynamicmodel.hh:38
Eigen::Matrix< precision, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:10
commandVec_t & getUpperCommandBounds()
Definition: dynamicmodel.hh:71
commandVec_t upperCommandBounds
Definition: dynamicmodel.hh:43
Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
Definition: dynamicmodel.hh:30
stateTens_t fxx
Definition: dynamicmodel.hh:46
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:24