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6 template <
typename precision,
int stateSize,
int commandSize>
9 typedef Eigen::Matrix<precision, stateSize, 1>
stateVec_t;
10 typedef Eigen::Matrix<precision, 1, stateSize>
12 typedef Eigen::Matrix<precision, stateSize, stateSize>
14 typedef Eigen::Matrix<precision, stateSize, stateSize>
18 typedef Eigen::Matrix<precision, commandSize, 1>
20 typedef Eigen::Matrix<precision, 1, commandSize>
22 typedef Eigen::Matrix<precision, commandSize, commandSize>
24 typedef Eigen::Matrix<precision, commandSize, commandSize>
28 typedef Eigen::Matrix<precision, stateSize, commandSize>
30 typedef Eigen::Matrix<precision, stateSize, commandSize>
33 typedef Eigen::Matrix<precision, stateSize, commandSize>
36 typedef Eigen::Matrix<precision, commandSize, stateSize>
38 typedef Eigen::Matrix<precision, commandSize, stateSize>
41 typedef Eigen::Matrix<precision, commandSize, stateSize>
44 typedef Eigen::Matrix<precision, stateSize, stateSize>
47 typedef Eigen::Matrix<precision, commandSize, commandSize>
88 #endif // COSTFUNCTION_H
Eigen::Matrix< precision, stateSize, 1 > stateVec_t
Definition: costfunction.hh:9
commandVec_t & getlu()
Definition: costfunction.hh:82
commandVec_t lu
Definition: costfunction.hh:63
commandMat_t & getluu()
Definition: costfunction.hh:83
double & getFinalCost()
Definition: costfunction.hh:79
commandMat_t luu
Definition: costfunction.hh:64
Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:23
stateR_commandC_t lxu
Definition: costfunction.hh:66
double running_cost
Definition: costfunction.hh:60
double final_cost
Definition: costfunction.hh:59
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
Definition: costfunction.hh:39
stateMat_t lxx
Definition: costfunction.hh:62
Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
Definition: costfunction.hh:15
Definition: costfunction.hh:7
commandR_stateC_t lux
Definition: costfunction.hh:65
Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
Definition: costfunction.hh:48
Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
Definition: costfunction.hh:11
double & getRunningCost()
Definition: costfunction.hh:78
stateMat_t & getlxx()
Definition: costfunction.hh:81
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
Definition: costfunction.hh:42
virtual void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)=0
Eigen::Matrix< precision, commandSize, 1 > commandVec_t
Definition: costfunction.hh:19
Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:13
stateR_commandC_t & getlxu()
Definition: costfunction.hh:85
commandR_stateC_t & getlux()
Definition: costfunction.hh:84
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
Definition: costfunction.hh:34
stateVec_t & getlx()
Definition: costfunction.hh:80
Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
Definition: costfunction.hh:21
virtual void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)=0
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
Definition: costfunction.hh:31
Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
Definition: costfunction.hh:29
stateVec_t lx
Definition: costfunction.hh:61
double dt
Definition: costfunction.hh:58
Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
Definition: costfunction.hh:45
Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
Definition: costfunction.hh:25
Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
Definition: costfunction.hh:37