1 #ifndef COSTFUNCTIONPYRENEACTUATOR_H
2 #define COSTFUNCTIONPYRENEACTUATOR_H
21 void setJointLimit(
const double& limitUp,
const double& limitDown);
26 static const double K;
39 std::vector<double> jointLim;
40 std::vector<double> jointVelLim;
Definition: pyreneCostFunction.hh:7
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: pyreneCostFunction.cpp:100
static const double K
Definition: pyreneCostFunction.hh:26
void setCostGainTorqueConstraint(const commandMat_t &P)
Definition: pyreneCostFunction.cpp:45
void setTauLimit(const double &limit)
Definition: pyreneCostFunction.cpp:50
void setCostGainStateConstraint(const stateMat_t &W)
Definition: pyreneCostFunction.cpp:36
void setJointVelLimit(const double &limitUp, const double &limitDown)
Definition: pyreneCostFunction.cpp:60
void setCostGainState(const stateMat_t &Q)
Definition: pyreneCostFunction.cpp:32
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: pyreneCostFunction.cpp:121
void computeTauConstraintsAndDeriv(const commandVec_t &U)
Definition: pyreneCostFunction.cpp:66
CostFunctionPyreneActuator()
Definition: pyreneCostFunction.cpp:13
void setCostGainCommand(const commandMat_t &R)
Definition: pyreneCostFunction.cpp:41
void computeConstraintsAndDeriv(const stateVec_t &X)
Definition: pyreneCostFunction.cpp:77
static const double offset_m
Definition: pyreneCostFunction.hh:27
void setJointLimit(const double &limitUp, const double &limitDown)
Definition: pyreneCostFunction.cpp:54
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