40 :
public ::dynamicgraph::Entity {
41 DYNAMIC_GRAPH_ENTITY_DECL();
56 DDPSolver<double, 5, 1>::stateVec_t m_xinit, m_xDes,
m_x, m_zeroState;
57 DDPSolver<double, 5, 1>::commandVec_t
m_u;
66 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70 virtual void display(std::ostream &os)
const;
79 void param_init(
const double ×tep,
const int &T,
const int &nbItMax,
80 const double &stopCriteria);