ocp.hpp File Reference

#include <stdint.h>
#include <chrono>
#include <utility>
#include "sleipnir/autodiff/variable_matrix.hpp"
#include "sleipnir/optimization/problem.hpp"
#include "sleipnir/util/assert.hpp"
#include "sleipnir/util/concepts.hpp"
#include "sleipnir/util/function_ref.hpp"
#include "sleipnir/util/symbol_exports.hpp"

Go to the source code of this file.

Classes
class	slp::OCP
	This class allows the user to pose and solve a constrained optimal control problem (OCP) in a variety of ways. More...

Namespaces
namespace	slp

Enumerations
enum class	slp::TranscriptionMethod : uint8_t { slp::DIRECT_TRANSCRIPTION , slp::DIRECT_COLLOCATION , slp::SINGLE_SHOOTING }
	Enum describing an OCP transcription method. More...
enum class	slp::DynamicsType : uint8_t { slp::EXPLICIT_ODE , slp::DISCRETE }
	Enum describing a type of system dynamics constraints. More...
enum class	slp::TimestepMethod : uint8_t { slp::FIXED , slp::VARIABLE , slp::VARIABLE_SINGLE }
	Enum describing the type of system timestep. More...

Functions
template<typename F , typename State , typename Input , typename Time >
State	slp::rk4 (F &&f, State x, Input u, Time t0, Time dt)
	Performs 4th order Runge-Kutta integration of dx/dt = f(t, x, u) for dt.