#include <ddp-actuator-solver/pyrene_actuator/pyreneCostFunction.hh>
Public Member Functions | |
CostFunctionPyreneActuator () | |
void | computeCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U) |
void | computeFinalCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes) |
void | setCostGainState (const stateMat_t &Q) |
void | setCostGainStateConstraint (const stateMat_t &W) |
void | setCostGainCommand (const commandMat_t &R) |
void | setCostGainTorqueConstraint (const commandMat_t &P) |
void | setTauLimit (const double &limit) |
void | setJointLimit (const double &limitUp, const double &limitDown) |
void | setJointVelLimit (const double &limitUp, const double &limitDown) |
void | computeConstraintsAndDeriv (const stateVec_t &X) |
void | computeTauConstraintsAndDeriv (const commandVec_t &U) |
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double & | getRunningCost () |
double & | getFinalCost () |
stateVec_t & | getlx () |
stateMat_t & | getlxx () |
commandVec_t & | getlu () |
commandMat_t & | getluu () |
commandR_stateC_t & | getlux () |
stateR_commandC_t & | getlxu () |
Static Public Attributes | |
static const double | K = 10.6 |
static const double | offset_m = 0.5572 |
Additional Inherited Members | |
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typedef Eigen::Matrix< double, stateSize, 1 > | stateVec_t |
typedef Eigen::Matrix< double, 1, stateSize > | stateVecTrans_t |
typedef Eigen::Matrix< double, stateSize, stateSize > | stateMat_t |
typedef Eigen::Matrix< double, stateSize, stateSize > | stateTens_t[stateSize] |
typedef Eigen::Matrix< double, commandSize, 1 > | commandVec_t |
typedef Eigen::Matrix< double, 1, commandSize > | commandVecTrans_t |
typedef Eigen::Matrix< double, commandSize, commandSize > | commandMat_t |
typedef Eigen::Matrix< double, commandSize, commandSize > | commandTens_t[commandSize] |
typedef Eigen::Matrix< double, stateSize, commandSize > | stateR_commandC_t |
typedef Eigen::Matrix< double, stateSize, commandSize > | stateR_commandC_stateD_t[stateSize] |
typedef Eigen::Matrix< double, stateSize, commandSize > | stateR_commandC_commandD_t[commandSize] |
typedef Eigen::Matrix< double, commandSize, stateSize > | commandR_stateC_t |
typedef Eigen::Matrix< double, commandSize, stateSize > | commandR_stateC_stateD_t[stateSize] |
typedef Eigen::Matrix< double, commandSize, stateSize > | commandR_stateC_commandD_t[commandSize] |
typedef Eigen::Matrix< double, stateSize, stateSize > | stateR_stateC_commandD_t[commandSize] |
typedef Eigen::Matrix< double, commandSize, commandSize > | commandR_commandC_stateD_t[stateSize] |
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double | dt |
double | final_cost |
double | running_cost |
stateVec_t | lx |
stateMat_t | lxx |
commandVec_t | lu |
commandMat_t | luu |
commandR_stateC_t | lux |
stateR_commandC_t | lxu |
CostFunctionPyreneActuator::CostFunctionPyreneActuator | ( | ) |
void CostFunctionPyreneActuator::computeConstraintsAndDeriv | ( | const stateVec_t & | X | ) |
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virtual |
Implements CostFunction< double, 2, 1 >.
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virtual |
Implements CostFunction< double, 2, 1 >.
void CostFunctionPyreneActuator::computeTauConstraintsAndDeriv | ( | const commandVec_t & | U | ) |
void CostFunctionPyreneActuator::setCostGainCommand | ( | const commandMat_t & | R | ) |
void CostFunctionPyreneActuator::setCostGainState | ( | const stateMat_t & | Q | ) |
void CostFunctionPyreneActuator::setCostGainStateConstraint | ( | const stateMat_t & | W | ) |
void CostFunctionPyreneActuator::setCostGainTorqueConstraint | ( | const commandMat_t & | P | ) |
void CostFunctionPyreneActuator::setJointLimit | ( | const double & | limitUp, |
const double & | limitDown | ||
) |
void CostFunctionPyreneActuator::setJointVelLimit | ( | const double & | limitUp, |
const double & | limitDown | ||
) |
void CostFunctionPyreneActuator::setTauLimit | ( | const double & | limit | ) |
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static |
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static |