unicycle.h

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#ifndef GCOP_UNICYCLE_H
#define GCOP_UNICYCLE_H

#include "system.h"
#include <limits>

namespace gcop {
  
  using namespace std;
  using namespace Eigen;

  typedef Matrix<double, 5, 1> Vector5d;
  typedef Matrix<double, 5, 5> Matrix5d;
  typedef Matrix<double, 5, 2> Matrix52d;
  typedef Matrix<double, 5, Dynamic> Matrix5Xd;

  class Unicycle : public System<Vector5d, 5, 2>
  {
  public:
    Unicycle();
    
    double Step(Vector5d &xb, double t, const Vector5d &xa, 
                const Vector2d &u, double h, const VectorXd *p,
                Matrix5d *A = 0, Matrix52d *B = 0, Matrix5Xd *C = 0);
    
    double dx; 
    double dy; 
  };  
}


#endif