direct_collocation.h File Reference

#include <memory>
#include <utility>
#include <variant>
#include <vector>
#include "drake/common/drake_copyable.h"
#include "drake/planning/trajectory_optimization/multiple_shooting.h"
#include "drake/solvers/constraint.h"
#include "drake/systems/framework/context.h"
#include "drake/systems/framework/system.h"

Include dependency graph for direct_collocation.h:

Classes
class	DirectCollocation
	DirectCollocation implements the approach to trajectory optimization as described in C. More...
class	DirectCollocationConstraint
	Implements the direct collocation constraints for a first-order hold on the input and a cubic polynomial representation of the state trajectories. More...

Namespaces
	drake
	drake::planning
	drake::planning::trajectory_optimization

Functions
solvers::Binding< solvers::Constraint >	AddDirectCollocationConstraint (std::shared_ptr< DirectCollocationConstraint > constraint, const Eigen::Ref< const solvers::VectorXDecisionVariable > &time_step, const Eigen::Ref< const solvers::VectorXDecisionVariable > &state, const Eigen::Ref< const solvers::VectorXDecisionVariable > &next_state, const Eigen::Ref< const solvers::VectorXDecisionVariable > &input, const Eigen::Ref< const solvers::VectorXDecisionVariable > &next_input, solvers::MathematicalProgram *prog)
	Helper method to add a DirectCollocationConstraint to the prog, ensuring that the order of variables in the binding matches the order expected by the constraint. More...