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