ip_problem_param.h

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#ifndef IP_PROBLEM_PARAM_H
#define IP_PROBLEM_PARAM_H

/****************************************
 * INCLUDES 
 ****************************************/

#include "smpc_common.h"

/****************************************
 * DEFINES
 ****************************************/

/****************************************
 * TYPEDEFS 
 ****************************************/
namespace IP
{
    class state_parameters
    {
        public:
            double cos;
            double sin;

            // parameters used in generation of A and B matrices
            double T;
            double h;

            double A3;
            double A6;

            double B[3];
    };


    class problem_parameters
    {
        public:
            problem_parameters (const int, const double, const double, const double, const double);
            ~problem_parameters();

            void set_state_parameters (const double*, const double*, const double, const double*);


            int N;

        // static matrices and vectors

            double i2Q[3];


            double i2P;

            double h_initial;

            state_parameters *spar;
    };
}
#endif /*IP_PROBLEM_PARAM_H*/