dynamics_type.hpp

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// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <stdint.h>
 
namespace slp {
 
/// Enum describing a type of system dynamics constraints.
enum class DynamicsType : uint8_t {
  /// The dynamics are a function in the form dx/dt = f(t, x, u).
  EXPLICIT_ODE,
  /// The dynamics are a function in the form xₖ₊₁ = f(t, xₖ, uₖ).
  DISCRETE
};
 
}  // namespace slp