text: /**********************************************************************************************************************
  This file is part of the Control Toolbox (https://adrlab.bitbucket.io/ct), copyright by ETH Zurich, Google Inc.
  Licensed under Apache2 license (see LICENSE file in main directory)
  **********************************************************************************************************************/
  
  #pragma once
  
  namespace ct {
  namespace optcon {
  
  //TODO if necessary, let DiscreteOptConProblem derive properly from
  // OptConProblemBase and add constructor such that a discrete problem can be
  // initialized from a continuous one
  
  template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
  using DiscreteOptConProblem = OptConProblemBase<STATE_DIM,
      CONTROL_DIM,
      core::DiscreteControlledSystem<STATE_DIM, CONTROL_DIM, SCALAR>,
      core::DiscreteLinearSystem<STATE_DIM, CONTROL_DIM, SCALAR>,
      core::DiscreteSystemLinearizer<STATE_DIM, CONTROL_DIM, SCALAR>,
      SCALAR>;
  
  }  // namespace optcon
  }  // namespace ct
  