Convex_Optimization_VS/CMSCP2/constaints.h

#pragma once
#include "example1.h"
#include "cmscp.h"
#include "dynamics0.h"
#include "coordinates.h"

void dynProg1(double* dynRhs, double* path, cmscp_contInput* contInput);
void dynProg2(double* dynRhs, double* path, cmscp_contInput* contInput);
void dynProg3(double* dynRhs, double* path, cmscp_contInput* contInput);


void endpoint1(double* out, cmscp_endpInput* endpInput);
void endpoint2(double* out, cmscp_endpInput* endpInput);
void endpoint3(double* out, cmscp_endpInput* endpInput);
void endpoint4(double* out, cmscp_endpInput* endpInput);
void endpoint5(double* out, cmscp_endpInput* endpInput);


void linkage1(double* out, cmscp_linkInput* linkInput);
void linkage2(double* out, cmscp_linkInput* linkInput);

void objEvent(double* obj, double* event, cmscp_objEventInput* objEventInput);