costtemp.hh
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1 #ifndef COSTTEMP_H
2 #define COSTTEMP_H
3 
5 
6 class CostTemp : public CostFunction<double,5,1>
7 {
8 public:
9  CostTemp();
10 private:
11  stateMat_t Q;
12  commandMat_t R;
13  double dt;
14 protected:
15  // attributes //
16 public:
17 private:
18 
19 protected:
20  // methods //
21 public:
22  void computeCostAndDeriv(const stateVec_t& X,const stateVec_t& Xdes, const commandVec_t& U);
23  void computeFinalCostAndDeriv(const stateVec_t& X,const stateVec_t& Xdes);
24 private:
25 protected:
26  // accessors //
27 public:
28 
29 };
30 
31 #endif // COSTFUNCTIONROMEOACTUATOR_H
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: costtemp.cpp:23
Definition: costtemp.hh:6
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: costtemp.cpp:17
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: costfunction.hh:10
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:12
Definition: costfunction.hh:7
CostTemp()
Definition: costtemp.cpp:3
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: costfunction.hh:16
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:18