GCOP
1.0
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00001 #ifndef GCOP_CAR_H 00002 #define GCOP_CAR_H 00003 00004 #include "system.h" 00005 #include <limits> 00006 00007 namespace gcop { 00008 00009 using namespace std; 00010 using namespace Eigen; 00011 00012 typedef Matrix<double, 5, 1> Vector5d; 00013 typedef Matrix<double, 5, 5> Matrix5d; 00014 typedef Matrix<double, 5, 2> Matrix52d; 00015 typedef Matrix<double, 5, Dynamic> Matrix5Xd; 00016 00026 class Car : public System<Vector5d, 5, 2> 00027 { 00028 public: 00029 Car(); 00030 00031 double Step(Vector5d &xb, double t, const Vector5d &xa, 00032 const Vector2d &u, double h, const VectorXd *p = 0, 00033 Matrix5d *A = 0, Matrix52d *B = 0, Matrix5Xd *C = 0); 00034 00035 double l; 00036 }; 00037 } 00038 00039 00040 #endif