Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: costfunction.hh:10
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: costIP.cpp:23
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:12
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: costIP.cpp:17
Definition: costfunction.hh:7
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: costfunction.hh:16
CostIP()
Definition: costIP.cpp:3
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:18