Enum Class TranscriptionMethod

java.lang.Object
java.lang.Enum<TranscriptionMethod>
org.wpilib.math.optimization.ocp.TranscriptionMethod
All Implemented Interfaces:
Serializable, Comparable<TranscriptionMethod>, Constable
public enum TranscriptionMethod extends Enum<TranscriptionMethod>
Enum describing an OCP transcription method.

  • Enum Constant Details

    • DIRECT_TRANSCRIPTION

      public static final TranscriptionMethod DIRECT_TRANSCRIPTION
      Each state is a decision variable constrained to the integrated dynamics of the previous state.

    • DIRECT_COLLOCATION

      public static final TranscriptionMethod DIRECT_COLLOCATION
      The trajectory is modeled as a series of cubic polynomials where the centerpoint slope is constrained.

    • SINGLE_SHOOTING

      public static final TranscriptionMethod SINGLE_SHOOTING
      States depend explicitly as a function of all previous states and all previous inputs.

  • Field Details

    • value

      public final int value
      TranscriptionMethod value.

  • Method Details

    • values

      public static TranscriptionMethod[] values()
      Returns an array containing the constants of this enum class, in the order they are declared.
      Returns:
      an array containing the constants of this enum class, in the order they are declared

    • valueOf

      public static TranscriptionMethod valueOf(String name)
      Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)
      Parameters:
      name - the name of the enum constant to be returned.
      Returns:
      the enum constant with the specified name
      Throws:
      IllegalArgumentException - if this enum class has no constant with the specified name
      NullPointerException - if the argument is null