#include <gurobi_trajectory.h>

Public Member Functions
	TrajSection1D (GRBModel *model_, uint n_p_, uint k_r_, decimal_t dt_, boost::shared_ptr< BasisBundlePro > basis)

	~TrajSection1D ()

decimal_t	evaluate (decimal_t t, uint derr) const

void	getContr (decimal_t x, uint derr, GRBLinExpr &expr)

void	getLinCost (GRBLinExpr &expr, uint i)

void	getCost (GRBQuadExpr &cost)

void	recoverVars (decimal_t ratio=1.0)

void	recoverVarsF (decimal_t ratio=1.0)

decimal_t	getCostDerr ()

void	setDt (decimal_t t)

Poly	getBoostPoly ()

Public Attributes
uint	n_p

uint	k_r

decimal_t	dt

boost::shared_ptr< BasisBundlePro >	basis

std::vector< GRBVar >	coeffs_var

std::vector< decimal_t >	coeffs

Protected Attributes
bool	generated

GRBModel *	model

Constructor & Destructor Documentation

◆ TrajSection1D()

traj_opt::TrajSection1D::TrajSection1D	(	GRBModel *	model_,
		uint	n_p_,
		uint	k_r_,
		decimal_t	dt_,
		boost::shared_ptr< BasisBundlePro >	basis
	)

◆ ~TrajSection1D()

traj_opt::TrajSection1D::~TrajSection1D ( )

Member Function Documentation

◆ evaluate()

decimal_t traj_opt::TrajSection1D::evaluate	(	decimal_t	t,
		uint	derr
	)		const

◆ getBoostPoly()

Poly traj_opt::TrajSection1D::getBoostPoly ( )

◆ getContr()

void traj_opt::TrajSection1D::getContr	(	decimal_t	x,
		uint	derr,
		GRBLinExpr &	expr
	)

◆ getCost()

void traj_opt::TrajSection1D::getCost ( GRBQuadExpr & cost )

◆ getCostDerr()

decimal_t traj_opt::TrajSection1D::getCostDerr ( )

◆ getLinCost()

void traj_opt::TrajSection1D::getLinCost	(	GRBLinExpr &	expr,
		uint	i
	)

◆ recoverVars()

void traj_opt::TrajSection1D::recoverVars ( decimal_t ratio = 1.0 )

◆ recoverVarsF()

void traj_opt::TrajSection1D::recoverVarsF ( decimal_t ratio = 1.0 )

◆ setDt()

void traj_opt::TrajSection1D::setDt ( decimal_t t )

inline

Member Data Documentation

◆ basis

boost::shared_ptr<BasisBundlePro> traj_opt::TrajSection1D::basis

◆ coeffs

std::vector<decimal_t> traj_opt::TrajSection1D::coeffs

◆ coeffs_var

std::vector<GRBVar> traj_opt::TrajSection1D::coeffs_var

◆ dt

decimal_t traj_opt::TrajSection1D::dt

◆ generated

bool traj_opt::TrajSection1D::generated

protected

◆ k_r

uint traj_opt::TrajSection1D::k_r

◆ model

GRBModel* traj_opt::TrajSection1D::model