Optimal control problem definition. More...
#include <iostream>#include <Eigen/Core>#include <smooth/concepts/lie_group.hpp>#include <smooth/diff.hpp>#include "traits.hpp"
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Classes | |
| struct | smooth::feedback::OCP< _X, _U, Theta, F, G, CR, CE > |
| Optimal control problem definition. More... | |
| struct | smooth::feedback::OCPSolution< _X, _U, _Nq, _Ncr, _Nce > |
| Solution to OCP. More... | |
Concepts | |
| concept | smooth::feedback::OCPType |
| Concept that is true for OCP specializations. | |
| concept | smooth::feedback::FlatOCPType |
| Concept that is true for FlatOCP specializations. | |
Functions | |
| template<diff::Type DT = diff::Type::Numerical> | |
| bool | smooth::feedback::test_ocp_derivatives (OCPType auto &ocp, uint32_t num_trials=1, double eps=1e-4) |
| Test analytic derivatives for an OCP problem. More... | |
Detailed Description
Optimal control problem definition.
Definition in file ocp.hpp.
Function Documentation
◆ test_ocp_derivatives()
template<diff::Type DT = diff::Type::Numerical>
| bool smooth::feedback::test_ocp_derivatives | ( | OCPType auto & | ocp, |
| uint32_t | num_trials = 1, |
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| double | eps = 1e-4 |
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| ) |
