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6 template <
typename precision,
int stateSize,
int commandSize>
9 typedef Eigen::Matrix<precision, stateSize, 1>
stateVec_t;
10 typedef Eigen::Matrix<precision, 1, stateSize>
12 typedef Eigen::Matrix<precision, stateSize, stateSize>
14 typedef Eigen::Matrix<precision, stateSize, stateSize>
18 typedef Eigen::Matrix<precision, commandSize, 1>
20 typedef Eigen::Matrix<precision, 1, commandSize>
22 typedef Eigen::Matrix<precision, commandSize, commandSize>
24 typedef Eigen::Matrix<precision, commandSize, commandSize>
28 typedef Eigen::Matrix<precision, stateSize, commandSize>
30 typedef Eigen::Matrix<precision, stateSize, commandSize>
33 typedef Eigen::Matrix<precision, stateSize, commandSize>
36 typedef Eigen::Matrix<precision, commandSize, stateSize>
38 typedef Eigen::Matrix<precision, commandSize, stateSize>
41 typedef Eigen::Matrix<precision, commandSize, stateSize>
44 typedef Eigen::Matrix<precision, stateSize, stateSize>
47 typedef Eigen::Matrix<precision, commandSize, commandSize>
98 #endif // DYNAMICMODEL_H
stateR_stateC_commandD_t & getfxu()
Definition: dynamicmodel.hh:94
Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
Definition: dynamicmodel.hh:15
unsigned int getStateNb()
Definition: dynamicmodel.hh:86
Definition: dynamicmodel.hh:7
stateR_commandC_commandD_t & getfuu()
Definition: dynamicmodel.hh:93
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
Definition: dynamicmodel.hh:29
Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
Definition: dynamicmodel.hh:48
Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
Definition: dynamicmodel.hh:21
Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
Definition: dynamicmodel.hh:45
stateR_stateC_commandD_t fxu
Definition: dynamicmodel.hh:67
Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
Definition: dynamicmodel.hh:13
Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
Definition: dynamicmodel.hh:25
stateR_commandC_t & getfu()
Definition: dynamicmodel.hh:92
Eigen::Matrix< precision, stateSize, 1 > stateVec_t
Definition: dynamicmodel.hh:9
stateMat_t & getfx()
Definition: dynamicmodel.hh:90
stateR_commandC_commandD_t fuu
Definition: dynamicmodel.hh:66
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
Definition: dynamicmodel.hh:37
double dt
Definition: dynamicmodel.hh:58
virtual commandMat_t computeTensorContuu(const stateVec_t &nextVx)=0
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
Definition: dynamicmodel.hh:39
virtual commandR_stateC_t computeTensorContux(const stateVec_t &nextVx)=0
commandVec_t & getLowerCommandBounds()
Definition: dynamicmodel.hh:88
stateR_commandC_t fu
Definition: dynamicmodel.hh:65
stateR_commandC_stateD_t fux
Definition: dynamicmodel.hh:68
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
Definition: dynamicmodel.hh:42
stateR_commandC_stateD_t & getfux()
Definition: dynamicmodel.hh:95
Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
Definition: dynamicmodel.hh:11
commandVec_t lowerCommandBounds
Definition: dynamicmodel.hh:60
unsigned int commandNb
Definition: dynamicmodel.hh:57
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:87
stateMat_t fx
Definition: dynamicmodel.hh:63
stateTens_t & getfxx()
Definition: dynamicmodel.hh:91
virtual stateMat_t computeTensorContxx(const stateVec_t &nextVx)=0
unsigned int stateNb
Definition: dynamicmodel.hh:56
commandVec_t & getUpperCommandBounds()
Definition: dynamicmodel.hh:89
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
Definition: dynamicmodel.hh:31
Eigen::Matrix< precision, commandSize, 1 > commandVec_t
Definition: dynamicmodel.hh:19
Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
Definition: dynamicmodel.hh:23
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
Definition: dynamicmodel.hh:34
commandVec_t upperCommandBounds
Definition: dynamicmodel.hh:61
stateTens_t fxx
Definition: dynamicmodel.hh:64