Collocation.hpp File Reference

Direct Collocation for Trajectory Optimization. More...

#include "TranscriptionBase.hpp"
#include "janus/math/Spacing.hpp"
#include <tuple>

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Classes
struct	janus::CollocationOptions
	Options for DirectCollocation setup. More...
class	janus::DirectCollocation
	Direct collocation transcription. More...

Namespaces
namespace	janus

Enumerations
enum class	janus::CollocationScheme { janus::Trapezoidal , janus::HermiteSimpson }
	Collocation scheme for dynamics discretization. More...

Detailed Description

Direct Collocation for Trajectory Optimization.