Public Types | Public Member Functions | Protected Attributes | List of all members
CostFunction< precision, stateSize, commandSize > Class Template Referenceabstract

#include <ddp-actuator-solver/costfunction.hh>

Public Types

typedef Eigen::Matrix< precision, stateSize, 1 > stateVec_t
 
typedef Eigen::Matrix< precision, 1, stateSize > stateVecTrans_t
 
typedef Eigen::Matrix< precision, stateSize, stateSize > stateMat_t
 
typedef Eigen::Matrix< precision, stateSize, stateSize > stateTens_t[stateSize]
 
typedef Eigen::Matrix< precision, commandSize, 1 > commandVec_t
 
typedef Eigen::Matrix< precision, 1, commandSize > commandVecTrans_t
 
typedef Eigen::Matrix< precision, commandSize, commandSize > commandMat_t
 
typedef Eigen::Matrix< precision, commandSize, commandSize > commandTens_t[commandSize]
 
typedef Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_t
 
typedef Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_stateD_t[stateSize]
 
typedef Eigen::Matrix< precision, stateSize, commandSize > stateR_commandC_commandD_t[commandSize]
 
typedef Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_t
 
typedef Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_stateD_t[stateSize]
 
typedef Eigen::Matrix< precision, commandSize, stateSize > commandR_stateC_commandD_t[commandSize]
 
typedef Eigen::Matrix< precision, stateSize, stateSize > stateR_stateC_commandD_t[commandSize]
 
typedef Eigen::Matrix< precision, commandSize, commandSize > commandR_commandC_stateD_t[stateSize]
 

Public Member Functions

virtual void computeCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U)=0
 
virtual void computeFinalCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes)=0
 
double & getRunningCost ()
 
double & getFinalCost ()
 
stateVec_t & getlx ()
 
stateMat_t & getlxx ()
 
commandVec_t & getlu ()
 
commandMat_t & getluu ()
 
commandR_stateC_t & getlux ()
 
stateR_commandC_t & getlxu ()
 

Protected Attributes

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
 

Member Typedef Documentation

◆ commandMat_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, commandSize> CostFunction< precision, stateSize, commandSize >::commandMat_t

◆ commandR_commandC_stateD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, commandSize> CostFunction< precision, stateSize, commandSize >::commandR_commandC_stateD_t[stateSize]

◆ commandR_stateC_commandD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, stateSize> CostFunction< precision, stateSize, commandSize >::commandR_stateC_commandD_t[commandSize]

◆ commandR_stateC_stateD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, stateSize> CostFunction< precision, stateSize, commandSize >::commandR_stateC_stateD_t[stateSize]

◆ commandR_stateC_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, stateSize> CostFunction< precision, stateSize, commandSize >::commandR_stateC_t

◆ commandTens_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, commandSize> CostFunction< precision, stateSize, commandSize >::commandTens_t[commandSize]

◆ commandVec_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, commandSize, 1> CostFunction< precision, stateSize, commandSize >::commandVec_t

◆ commandVecTrans_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, 1, commandSize> CostFunction< precision, stateSize, commandSize >::commandVecTrans_t

◆ stateMat_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, stateSize> CostFunction< precision, stateSize, commandSize >::stateMat_t

◆ stateR_commandC_commandD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, commandSize> CostFunction< precision, stateSize, commandSize >::stateR_commandC_commandD_t[commandSize]

◆ stateR_commandC_stateD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, commandSize> CostFunction< precision, stateSize, commandSize >::stateR_commandC_stateD_t[stateSize]

◆ stateR_commandC_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, commandSize> CostFunction< precision, stateSize, commandSize >::stateR_commandC_t

◆ stateR_stateC_commandD_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, stateSize> CostFunction< precision, stateSize, commandSize >::stateR_stateC_commandD_t[commandSize]

◆ stateTens_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, stateSize> CostFunction< precision, stateSize, commandSize >::stateTens_t[stateSize]

◆ stateVec_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, stateSize, 1> CostFunction< precision, stateSize, commandSize >::stateVec_t

◆ stateVecTrans_t

template<typename precision , int stateSize, int commandSize>
typedef Eigen::Matrix<precision, 1, stateSize> CostFunction< precision, stateSize, commandSize >::stateVecTrans_t

Member Function Documentation

◆ computeCostAndDeriv()

template<typename precision , int stateSize, int commandSize>
virtual void CostFunction< precision, stateSize, commandSize >::computeCostAndDeriv ( const stateVec_t &  X,
const stateVec_t &  Xdes,
const commandVec_t &  U 
)
pure virtual

◆ computeFinalCostAndDeriv()

template<typename precision , int stateSize, int commandSize>
virtual void CostFunction< precision, stateSize, commandSize >::computeFinalCostAndDeriv ( const stateVec_t &  X,
const stateVec_t &  Xdes 
)
pure virtual

◆ getFinalCost()

template<typename precision , int stateSize, int commandSize>
double& CostFunction< precision, stateSize, commandSize >::getFinalCost ( )
inline

◆ getlu()

template<typename precision , int stateSize, int commandSize>
commandVec_t& CostFunction< precision, stateSize, commandSize >::getlu ( )
inline

◆ getluu()

template<typename precision , int stateSize, int commandSize>
commandMat_t& CostFunction< precision, stateSize, commandSize >::getluu ( )
inline

◆ getlux()

template<typename precision , int stateSize, int commandSize>
commandR_stateC_t& CostFunction< precision, stateSize, commandSize >::getlux ( )
inline

◆ getlx()

template<typename precision , int stateSize, int commandSize>
stateVec_t& CostFunction< precision, stateSize, commandSize >::getlx ( )
inline

◆ getlxu()

template<typename precision , int stateSize, int commandSize>
stateR_commandC_t& CostFunction< precision, stateSize, commandSize >::getlxu ( )
inline

◆ getlxx()

template<typename precision , int stateSize, int commandSize>
stateMat_t& CostFunction< precision, stateSize, commandSize >::getlxx ( )
inline

◆ getRunningCost()

template<typename precision , int stateSize, int commandSize>
double& CostFunction< precision, stateSize, commandSize >::getRunningCost ( )
inline

Member Data Documentation

◆ dt

template<typename precision , int stateSize, int commandSize>
double CostFunction< precision, stateSize, commandSize >::dt
protected

◆ final_cost

template<typename precision , int stateSize, int commandSize>
double CostFunction< precision, stateSize, commandSize >::final_cost
protected

◆ lu

template<typename precision , int stateSize, int commandSize>
commandVec_t CostFunction< precision, stateSize, commandSize >::lu
protected

◆ luu

template<typename precision , int stateSize, int commandSize>
commandMat_t CostFunction< precision, stateSize, commandSize >::luu
protected

◆ lux

template<typename precision , int stateSize, int commandSize>
commandR_stateC_t CostFunction< precision, stateSize, commandSize >::lux
protected

◆ lx

template<typename precision , int stateSize, int commandSize>
stateVec_t CostFunction< precision, stateSize, commandSize >::lx
protected

◆ lxu

template<typename precision , int stateSize, int commandSize>
stateR_commandC_t CostFunction< precision, stateSize, commandSize >::lxu
protected

◆ lxx

template<typename precision , int stateSize, int commandSize>
stateMat_t CostFunction< precision, stateSize, commandSize >::lxx
protected

◆ running_cost

template<typename precision , int stateSize, int commandSize>
double CostFunction< precision, stateSize, commandSize >::running_cost
protected
The documentation for this class was generated from the following file: