costtemp.hh
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1 #ifndef COSTTEMP_H
2 #define COSTTEMP_H
3 
5 
6 class CostTemp : public CostFunction<double, 5, 1> {
7  public:
8  CostTemp();
9 
10  private:
11  stateMat_t Q;
12  commandMat_t R;
13  double dt;
14 
15  protected:
16  // attributes //
17  public:
18  private:
19  protected:
20  // methods //
21  public:
22  void computeCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes,
23  const commandVec_t& U);
24  void computeFinalCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes);
25 
26  private:
27  protected:
28  // accessors //
29  public:
30 };
31 
32 #endif // COSTFUNCTIONROMEOACTUATOR_H
CostFunction< double, 5, 1 >::stateVec_t
Eigen::Matrix< double, stateSize, 1 > stateVec_t
Definition: costfunction.hh:9
CostTemp
Definition: costtemp.hh:6
CostFunction< double, 5, 1 >::commandMat_t
Eigen::Matrix< double, commandSize, commandSize > commandMat_t
Definition: costfunction.hh:23
CostFunction
Definition: costfunction.hh:7
CostTemp::computeFinalCostAndDeriv
void computeFinalCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes)
Definition: costtemp.cpp:25
CostTemp::CostTemp
CostTemp()
Definition: costtemp.cpp:3
CostFunction< double, 5, 1 >::commandVec_t
Eigen::Matrix< double, commandSize, 1 > commandVec_t
Definition: costfunction.hh:19
CostFunction< double, 5, 1 >::stateMat_t
Eigen::Matrix< double, stateSize, stateSize > stateMat_t
Definition: costfunction.hh:13
costfunction.hh
CostTemp::computeCostAndDeriv
void computeCostAndDeriv(const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)
Definition: costtemp.cpp:17