kitemath.h
No OneTemporary
Actions

Subscribers

None

File Metadata

	#ifndef KITEMATH_H
	#define KITEMATH_H

	#include "casadi/casadi.hpp"

	enum IntType {RK4, CVODES, CHEBYCHEV};

	namespace kmath
	{
	/** quaternion arithmetic */
	casadi::SX quat_multiply(const casadi::SX &q1, const casadi::SX &q2);
	casadi::SX quat_inverse(const casadi::SX &q);

	/** collection of custom functions */
	casadi::SX heaviside(const casadi::SX &x, const double K);
	double deg2rad(const double &deg){return (M_PI / 180) * deg;}

	/** integration */
	casadi::SX rk4_symbolic(const casadi::SX &X,
	const casadi::SX &U,
	casadi::Function &func,
	const casadi::SX &h);

	/** @brief: compute Chebyshev collocation points for a given interval */
	void cheb(casadi::DM &CollocPoints, casadi::DM &DiffMatrix,
	const unsigned &N, const std::pair<double, double> interval);

	casadi::SX mat_func(const casadi::SX &matrix_in, casadi::Function &func);
	casadi::SX mat_dynamics(const casadi::SX &arg_x, const casadi::SX &arg_u, casadi::Function &func);

	}

	#endif // KITEMATH_H