6 template <
typename precision,
int stateSize,
int commandSize>
9 typedef Eigen::Matrix<precision, stateSize, 1>
stateVec_t;
11 typedef Eigen::Matrix<precision, stateSize, stateSize>
stateMat_t;
12 typedef Eigen::Matrix<precision, stateSize, stateSize>
stateTens_t[stateSize];
17 typedef Eigen::Matrix<precision, commandSize, commandSize>
commandMat_t;
18 typedef Eigen::Matrix<precision, commandSize, commandSize>
23 typedef Eigen::Matrix<precision, stateSize, commandSize>
25 typedef Eigen::Matrix<precision, stateSize, commandSize>
28 typedef Eigen::Matrix<precision, commandSize, stateSize>
30 typedef Eigen::Matrix<precision, commandSize, stateSize>
32 typedef Eigen::Matrix<precision, stateSize, stateSize>
34 typedef Eigen::Matrix<precision, commandSize, commandSize>
Definition: costfunction.hh:7
commandR_stateC_t & getlux()
Definition: costfunction.hh:68
stateR_commandC_t lxu
Definition: costfunction.hh:52
virtual void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)=0
double running_cost
Definition: costfunction.hh:46
stateMat_t & getlxx()
Definition: costfunction.hh:65
stateVec_t & getlx()
Definition: costfunction.hh:64
Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
Definition: costfunction.hh:16
Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
Definition: costfunction.hh:35
commandR_stateC_t lux
Definition: costfunction.hh:51
commandMat_t & getluu()
Definition: costfunction.hh:67
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
Definition: costfunction.hh:22
double & getFinalCost()
Definition: costfunction.hh:63
Eigen::Matrix< precision, commandSize, 1 > commandVec_t
Definition: costfunction.hh:15
double dt
Definition: costfunction.hh:44
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
Definition: costfunction.hh:27
Eigen::Matrix< precision, stateSize, 1 > stateVec_t
Definition: costfunction.hh:9
stateMat_t lxx
Definition: costfunction.hh:48
Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:17
virtual void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)=0
commandVec_t lu
Definition: costfunction.hh:49
commandVec_t & getlu()
Definition: costfunction.hh:66
Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
Definition: costfunction.hh:10
Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:11
commandMat_t luu
Definition: costfunction.hh:50
stateVec_t lx
Definition: costfunction.hh:47
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
Definition: costfunction.hh:31
stateR_commandC_t & getlxu()
Definition: costfunction.hh:69
Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
Definition: costfunction.hh:33
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
Definition: costfunction.hh:26
Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
Definition: costfunction.hh:19
double & getRunningCost()
Definition: costfunction.hh:62
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
Definition: costfunction.hh:29
Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
Definition: costfunction.hh:12
double final_cost
Definition: costfunction.hh:45
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
Definition: costfunction.hh:24