L_1sq

Standard documentation for collocation_coeff:

 [INTERNAL] 

::

 collocation_coeff([float] tau) -> (DM OUTPUT, DM OUTPUT, DM 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,Xc_j) with j=1..degree.

This function computes the linear mapping between dPi/dt and coefficients Z=[X_0 Xc].

Parameters:

tau: location of collocation points (length: degree), as obtained from

collocation_points

C: interpolating coefficients to obtain derivatives. Size: (degree+1)-by-

degree

You may find the slopes of Pi at the collocation points as

::

dPi/dt @ Xc = (1/h) Z*C,

with h the length of the integration interval.

Parameters:

D: interpolating coefficients to obtain end state. Size: (degree+1)-by-1

You may find the end point of Pi as

::

Pi @X_f = Z*D

Parameters:

B: quadrature coefficients Size: degree-by-1

Given quadrature righ-hand-sides 'quad' evaluated at the collocation

points, you may find the integrated quadratures as

::

q = quadBh

Extra doc: https://github.com/casadi/casadi/wiki/L_1sq

Doc source: https://github.com/casadi/casadi/blob/develop/casadi/core/integration_tools.hpp#L233

Implementation: https://github.com/casadi/casadi/blob/develop/casadi/core/integration_tools.cpp#L233-L287

Extra documentation

To edit, see writing tips.