#include <ct/optcon/optcon-prespec.h>
#include <ct/optcon/problem/OptConProblemBase-impl.h>

// continuous optConProblem
template class ct::optcon::OptConProblemBase<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@,
    ct::core::ControlledSystem<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@, @SCALAR_PRESPEC@>,
    ct::core::LinearSystem<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@, @SCALAR_PRESPEC@>,
    ct::core::SystemLinearizer<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@, @SCALAR_PRESPEC@>,
    @SCALAR_PRESPEC@>;

// discrete optConProblem
template class ct::optcon::OptConProblemBase<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@,
    ct::core::DiscreteControlledSystem<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@, @SCALAR_PRESPEC@>,
    ct::core::DiscreteLinearSystem<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@, @SCALAR_PRESPEC@>,
    ct::core::DiscreteSystemLinearizer<@STATE_DIM_PRESPEC@, @CONTROL_DIM_PRESPEC@, @SCALAR_PRESPEC@>,
    @SCALAR_PRESPEC@>;
