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L_1sp
[INTERNAL]
::
collocation_interpolators([float] tau) -> ([[float]] OUTPUT, [float] OUTPUT)
Obtain collocation interpolating matrices.
A collocation method poses a polynomial Pi that interpolates exactly
through an initial state (0,X_0) and helper states at collocation points (tau_j,X:collPoint(j)).
This function computes the linear mapping between dPi/dt and coefficients Z=[X_0 X:collPoints].
tau: location of collocation points, as obtained from collocation_points
C: interpolating coefficients to obtain derivatives. Length: order+1,
order+1
::
dPi/dt @Z_j = (1/h) Sum_i C[j][i]*Z_i,
with h the length of the integration interval.
D: interpolating coefficients to obtain end state. Length: order+1
::
Pi @X_f = Sum_i D[i]*Z_i
Extra doc: https://github.com/casadi/casadi/wiki/L_1sp
Doc source: https://github.com/casadi/casadi/blob/develop/casadi/core/integration_tools.hpp#L189
Implementation: https://github.com/casadi/casadi/blob/develop/casadi/core/integration_tools.cpp#L189-L231
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