Enum Class TranscriptionMethod

java.lang.Object

java.lang.Enum<TranscriptionMethod>

org.wpilib.math.optimization.ocp.TranscriptionMethod

All Implemented Interfaces:

Serializable, Comparable<TranscriptionMethod>, Constable

public enum TranscriptionMethod
extends Enum<TranscriptionMethod>

Enum describing an OCP transcription method.

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
DIRECT_COLLOCATION	The trajectory is modeled as a series of cubic polynomials where the centerpoint slope is constrained.
DIRECT_TRANSCRIPTION	Each state is a decision variable constrained to the integrated dynamics of the previous state.
SINGLE_SHOOTING	States depend explicitly as a function of all previous states and all previous inputs.

Field Summary

Fields

Modifier and Type	Field	Description
final int	value	TranscriptionMethod value.

Method Summary

Modifier and Type	Method	Description
static TranscriptionMethod	valueOf(String name)	Returns the enum constant of this class with the specified name.
static TranscriptionMethod[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

DIRECT_TRANSCRIPTION

public static final TranscriptionMethod DIRECT_TRANSCRIPTION

Each state is a decision variable constrained to the integrated dynamics of the previous state.

DIRECT_COLLOCATION

public static final TranscriptionMethod DIRECT_COLLOCATION

The trajectory is modeled as a series of cubic polynomials where the centerpoint slope is constrained.

SINGLE_SHOOTING

public static final TranscriptionMethod SINGLE_SHOOTING

States depend explicitly as a function of all previous states and all previous inputs.

Field Details

value

public final int value

TranscriptionMethod value.

Method Details

values

public static TranscriptionMethod[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static TranscriptionMethod valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null