#include <ddp-actuator-solver/costfunction.hh>
Public Types | |
typedef Eigen::Matrix < precision, stateSize, 1 > | stateVec_t |
typedef Eigen::Matrix < precision, 1, stateSize > | stateVecTrans_t |
typedef Eigen::Matrix < precision, stateSize, stateSize > | stateMat_t |
typedef Eigen::Matrix < precision, stateSize, stateSize > | stateTens_t [stateSize] |
typedef Eigen::Matrix < precision, commandSize, 1 > | commandVec_t |
typedef Eigen::Matrix < precision, 1, commandSize > | commandVecTrans_t |
typedef Eigen::Matrix < precision, commandSize, commandSize > | commandMat_t |
typedef Eigen::Matrix < precision, commandSize, commandSize > | commandTens_t [commandSize] |
typedef Eigen::Matrix < precision, stateSize, commandSize > | stateR_commandC_t |
typedef Eigen::Matrix < precision, stateSize, commandSize > | stateR_commandC_stateD_t [stateSize] |
typedef Eigen::Matrix < precision, stateSize, commandSize > | stateR_commandC_commandD_t [commandSize] |
typedef Eigen::Matrix < precision, commandSize, stateSize > | commandR_stateC_t |
typedef Eigen::Matrix < precision, commandSize, stateSize > | commandR_stateC_stateD_t [stateSize] |
typedef Eigen::Matrix < precision, commandSize, stateSize > | commandR_stateC_commandD_t [commandSize] |
typedef Eigen::Matrix < precision, stateSize, stateSize > | stateR_stateC_commandD_t [commandSize] |
typedef Eigen::Matrix < precision, commandSize, commandSize > | commandR_commandC_stateD_t [stateSize] |
Public Member Functions | |
virtual void | computeCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)=0 |
virtual void | computeFinalCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes)=0 |
double & | getRunningCost () |
double & | getFinalCost () |
stateVec_t & | getlx () |
stateMat_t & | getlxx () |
commandVec_t & | getlu () |
commandMat_t & | getluu () |
commandR_stateC_t & | getlux () |
stateR_commandC_t & | getlxu () |
Protected Attributes | |
double | dt |
double | final_cost |
double | running_cost |
stateVec_t | lx |
stateMat_t | lxx |
commandVec_t | lu |
commandMat_t | luu |
commandR_stateC_t | lux |
stateR_commandC_t | lxu |
typedef Eigen::Matrix<precision,commandSize,commandSize> CostFunction< precision, stateSize, commandSize >::commandMat_t |
typedef Eigen::Matrix<precision,commandSize,commandSize> CostFunction< precision, stateSize, commandSize >::commandR_commandC_stateD_t[stateSize] |
typedef Eigen::Matrix<precision,commandSize,stateSize> CostFunction< precision, stateSize, commandSize >::commandR_stateC_commandD_t[commandSize] |
typedef Eigen::Matrix<precision,commandSize,stateSize> CostFunction< precision, stateSize, commandSize >::commandR_stateC_stateD_t[stateSize] |
typedef Eigen::Matrix<precision,commandSize,stateSize> CostFunction< precision, stateSize, commandSize >::commandR_stateC_t |
typedef Eigen::Matrix<precision,commandSize,commandSize> CostFunction< precision, stateSize, commandSize >::commandTens_t[commandSize] |
typedef Eigen::Matrix<precision,commandSize,1> CostFunction< precision, stateSize, commandSize >::commandVec_t |
typedef Eigen::Matrix<precision,1,commandSize> CostFunction< precision, stateSize, commandSize >::commandVecTrans_t |
typedef Eigen::Matrix<precision,stateSize,stateSize> CostFunction< precision, stateSize, commandSize >::stateMat_t |
typedef Eigen::Matrix<precision,stateSize,commandSize> CostFunction< precision, stateSize, commandSize >::stateR_commandC_commandD_t[commandSize] |
typedef Eigen::Matrix<precision,stateSize,commandSize> CostFunction< precision, stateSize, commandSize >::stateR_commandC_stateD_t[stateSize] |
typedef Eigen::Matrix<precision,stateSize,commandSize> CostFunction< precision, stateSize, commandSize >::stateR_commandC_t |
typedef Eigen::Matrix<precision,stateSize,stateSize> CostFunction< precision, stateSize, commandSize >::stateR_stateC_commandD_t[commandSize] |
typedef Eigen::Matrix<precision,stateSize,stateSize> CostFunction< precision, stateSize, commandSize >::stateTens_t[stateSize] |
typedef Eigen::Matrix<precision,stateSize,1> CostFunction< precision, stateSize, commandSize >::stateVec_t |
typedef Eigen::Matrix<precision,1,stateSize> CostFunction< precision, stateSize, commandSize >::stateVecTrans_t |
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Referenced by CostFunction< precision, stateSize, commandSize >::getlu().
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Referenced by CostFunction< precision, stateSize, commandSize >::getluu().
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Referenced by CostFunction< precision, stateSize, commandSize >::getlux().
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Referenced by CostFunction< precision, stateSize, commandSize >::getlx().
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Referenced by CostFunction< precision, stateSize, commandSize >::getlxu().
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Referenced by CostFunction< precision, stateSize, commandSize >::getlxx().
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