costIP.hh
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1 #ifndef COSTIP_H
2 #define COSTIP_H
3 
5 
6 class CostIP : public CostFunction<double,5,1>
7 {
8 public:
9  CostIP();
10 private:
11  stateMat_t Q;
12  commandMat_t R;
13  double dt;
14 protected:
15  // attributes //
16 public:
17 private:
18 
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 private:
25 protected:
26  // accessors //
27 public:
28 
29 };
30 
31 #endif // COST_H
CostFunction< double, 5, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: costfunction.hh:10
CostIP::computeFinalCostAndDeriv
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: costIP.cpp:23
CostFunction< double, 5, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:12
CostIP::computeCostAndDeriv
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: costIP.cpp:17
CostFunction
Definition: costfunction.hh:7
CostFunction< double, 5, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: costfunction.hh:16
CostIP::CostIP
CostIP()
Definition: costIP.cpp:3
CostFunction< double, 5, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:18
costfunction.hh
CostIP
Definition: costIP.hh:6