crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
CostModelSumTpl< _Scalar > Class Template Reference

Public Types

typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef std::map< std::string, boost::shared_ptr< CostDataAbstract > > CostDataContainer
 
typedef CostDataSumTpl< Scalar > CostDataSum
 
typedef CostItemTpl< Scalar > CostItem
 
typedef CostModelAbstractTpl< Scalar > CostModelAbstract
 
typedef std::map< std::string, boost::shared_ptr< CostItem > > CostModelContainer
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 CostModelSumTpl (boost::shared_ptr< StateMultibody > state, const std::size_t &nu)
 
 CostModelSumTpl (boost::shared_ptr< StateMultibody > state)
 
void addCost (const std::string &name, boost::shared_ptr< CostModelAbstract > cost, const Scalar &weight, bool active=true)
 
void calc (const boost::shared_ptr< CostDataSumTpl< Scalar > > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
void calc (const boost::shared_ptr< CostDataSumTpl< Scalar > > &data, const Eigen::Ref< const VectorXs > &x)
 
void calcDiff (const boost::shared_ptr< CostDataSumTpl< Scalar > > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
void calcDiff (const boost::shared_ptr< CostDataSumTpl< Scalar > > &data, const Eigen::Ref< const VectorXs > &x)
 
void changeCostStatus (const std::string &name, bool active)
 
boost::shared_ptr< CostDataSumTpl< Scalar > > createData (DataCollectorAbstract *const data)
 
const std::vector< std::string > & get_active () const
 
const CostModelContainer & get_costs () const
 
const std::vector< std::string > & get_inactive () const
 
const std::size_t & get_nr () const
 
const std::size_t & get_nr_total () const
 
const std::size_t & get_nu () const
 
const boost::shared_ptr< StateMultibody > & get_state () const
 
bool getCostStatus (const std::string &name) const
 
void removeCost (const std::string &name)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Detailed Description

template<typename _Scalar>
class crocoddyl::CostModelSumTpl< _Scalar >

Definition at line 41 of file cost-sum.hpp.


The documentation for this class was generated from the following file: