|
GCOP
1.0
|
00001 // This file is part of libgcop, a library for Geometric Control, Optimization, and Planning (GCOP) 00002 // 00003 // Copyright (C) 2004-2014 Marin Kobilarov <marin(at)jhu.edu> 00004 // 00005 // This Source Code Form is subject to the terms of the Mozilla 00006 // Public License v. 2.0. If a copy of the MPL was not distributed 00007 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 00008 00009 #ifndef GCOP_SYSTEM_H 00010 #define GCOP_SYSTEM_H 00011 00012 #include <Eigen/Dense> 00013 #include <vector> 00014 00015 namespace gcop { 00016 00017 using namespace Eigen; 00018 00025 template <typename T = VectorXd, 00026 int _nx = Dynamic, 00027 int _nu = Dynamic, 00028 int _np = Dynamic> class Trajectory { 00029 public: 00030 typedef Matrix<double, _nu, 1> Vectorud; 00031 typedef Matrix<double, _np, 1> Vectorpd; 00032 00033 Trajectory(const System<T, _nx, _nu, _np> &sys, int N); 00034 00035 const System<T, _nx, _nu, _np> &sys; 00036 vector<double> ts; 00037 vector<T> xs; 00038 vector<Vectorud> us; 00039 Vectorpd *p; 00040 00041 }; 00042 00043 template <typename T, int _nx, int _nu, int _np> 00044 Trajectory<T, _nx, _nu, _np>::Trajectory(const System<T, _nx, _nu, _np> &sys, int N) : 00045 sys(sys), ts(N+1), xs(N+1), us(N), p(0) 00046 { 00047 } 00048 } 00049 00050 #endif
1.7.6.1