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6 template<
typename precision,
int stateSize,
int commandSize>
12 typedef Eigen::Matrix<precision,stateSize,stateSize>
stateMat_t;
13 typedef Eigen::Matrix<precision,stateSize,stateSize>
stateTens_t[stateSize];
18 typedef Eigen::Matrix<precision,commandSize,commandSize>
commandMat_t;
19 typedef Eigen::Matrix<precision,commandSize,commandSize>
commandTens_t[commandSize];
68 #endif // COSTFUNCTION_H
commandVec_t & getlu()
Definition: costfunction.hh:62
commandVec_t lu
Definition: costfunction.hh:46
commandMat_t & getluu()
Definition: costfunction.hh:63
Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
Definition: costfunction.hh:11
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
Definition: costfunction.hh:29
Eigen::Matrix< precision, stateSize, 1 > stateVec_t
Definition: costfunction.hh:10
Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
Definition: costfunction.hh:31
Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:12
double & getFinalCost()
Definition: costfunction.hh:59
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
Definition: costfunction.hh:28
commandMat_t luu
Definition: costfunction.hh:47
stateR_commandC_t lxu
Definition: costfunction.hh:49
double running_cost
Definition: costfunction.hh:43
double final_cost
Definition: costfunction.hh:42
stateMat_t lxx
Definition: costfunction.hh:45
Definition: costfunction.hh:7
Eigen::Matrix< precision, commandSize, 1 > commandVec_t
Definition: costfunction.hh:16
commandR_stateC_t lux
Definition: costfunction.hh:48
double & getRunningCost()
Definition: costfunction.hh:58
stateMat_t & getlxx()
Definition: costfunction.hh:61
Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
Definition: costfunction.hh:13
virtual void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)=0
Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
Definition: costfunction.hh:17
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
Definition: costfunction.hh:27
stateR_commandC_t & getlxu()
Definition: costfunction.hh:65
commandR_stateC_t & getlux()
Definition: costfunction.hh:64
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
Definition: costfunction.hh:26
stateVec_t & getlx()
Definition: costfunction.hh:60
virtual void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)=0
Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:18
stateVec_t lx
Definition: costfunction.hh:44
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
Definition: costfunction.hh:24
Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
Definition: costfunction.hh:30
double dt
Definition: costfunction.hh:41
Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
Definition: costfunction.hh:19
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
Definition: costfunction.hh:25