001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package org.wpilib.math.optimization.ocp;
006
007/** Enum describing an OCP transcription method. */
008public enum TranscriptionMethod {
009  /**
010   * Each state is a decision variable constrained to the integrated dynamics of the previous state.
011   */
012  DIRECT_TRANSCRIPTION(0),
013  /**
014   * The trajectory is modeled as a series of cubic polynomials where the centerpoint slope is
015   * constrained.
016   */
017  DIRECT_COLLOCATION(1),
018  /** States depend explicitly as a function of all previous states and all previous inputs. */
019  SINGLE_SHOOTING(2);
020
021  /** TranscriptionMethod value. */
022  public final int value;
023
024  TranscriptionMethod(int value) {
025    this.value = value;
026  }
027}