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costfunctionromeoactuator.hh
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1#ifndef COSTFUNCTIONROMEOACTUATOR_H
2#define COSTFUNCTIONROMEOACTUATOR_H
3
5
6class CostFunctionRomeoActuator : public CostFunction<double, 4, 1> {
7 public:
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, const commandVec_t& U);
23 void computeFinalCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes);
24
25 private:
26 protected:
27 // accessors //
28 public:
29};
30
31#endif // COSTFUNCTIONROMEOACTUATOR_H
Definition: costfunctionromeoactuator.hh:6
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: costfunctionromeoactuator.cpp:16
CostFunctionRomeoActuator()
Definition: costfunctionromeoactuator.cpp:3
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: costfunctionromeoactuator.cpp:23
Definition: costfunction.hh:7
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: costfunction.hh:15
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: costfunction.hh:9
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:17
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:11