transcription_method.hpp

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// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <stdint.h>
 
namespace slp {
 
/// Enum describing an OCP transcription method.
enum class TranscriptionMethod : uint8_t {
  /// Each state is a decision variable constrained to the integrated dynamics
  /// of the previous state.
  DIRECT_TRANSCRIPTION,
  /// The trajectory is modeled as a series of cubic polynomials where the
  /// centerpoint slope is constrained.
  DIRECT_COLLOCATION,
  /// States depend explicitly as a function of all previous states and all
  /// previous inputs.
  SINGLE_SHOOTING
};
 
}  // namespace slp