#include <memory>
#include <variant>
#include "drake/common/drake_copyable.h"
#include "drake/common/trajectories/piecewise_polynomial.h"
#include "drake/planning/trajectory_optimization/multiple_shooting.h"
#include "drake/systems/analysis/integrator_base.h"
#include "drake/systems/framework/context.h"
#include "drake/systems/framework/system.h"
#include "drake/systems/primitives/linear_system.h"

Include dependency graph for direct_transcription.h:

Classes
struct	TimeStep
class	DirectTranscription
	DirectTranscription is perhaps the simplest implementation of a multiple shooting method, where we have decision variables representing the control and input at every sample time in the trajectory, and one-step of numerical integration provides the dynamic constraints between those decision variables. More...

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

Classes

Namespaces