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