costLinear.hh
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1 #ifndef COST_H
2 #define COST_H
3 
5 
6 class CostLinear : public CostFunction<double,2,1>
7 {
8 public:
9  CostLinear();
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, 2, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: costfunction.hh:10
CostFunction< double, 2, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:12
CostLinear::CostLinear
CostLinear()
Definition: costLinear.cpp:3
CostFunction
Definition: costfunction.hh:7
CostFunction< double, 2, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: costfunction.hh:16
CostLinear::computeFinalCostAndDeriv
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: costLinear.cpp:22
CostLinear
Definition: costLinear.hh:6
CostFunction< double, 2, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:18
costfunction.hh
CostLinear::computeCostAndDeriv
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: costLinear.cpp:16