#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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pure virtual |
Implemented in CostIP, CostFunctionPyreneActuator, and CostFunctionRomeoActuator.
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pure virtual |
Implemented in CostIP, CostFunctionPyreneActuator, and CostFunctionRomeoActuator.
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