#include <ddp-actuator-solver/pyrene_actuator/pyreneCostFunction.hh>

Inheritance diagram for CostFunctionPyreneActuator:

Collaboration diagram for CostFunctionPyreneActuator:

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)

Public Member Functions inherited from CostFunction< double, 2, 1 >
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 ()

Static Public Attributes
static const double	K = 10.6

static const double	offset_m = 0.5572

Additional Inherited Members
Public Types inherited from CostFunction< double, 2, 1 >
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]

Protected Attributes inherited from CostFunction< double, 2, 1 >
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

Constructor & Destructor Documentation

◆ CostFunctionPyreneActuator()

CostFunctionPyreneActuator::CostFunctionPyreneActuator ( )

Member Function Documentation

◆ computeConstraintsAndDeriv()

void CostFunctionPyreneActuator::computeConstraintsAndDeriv ( const stateVec_t & X )

◆ computeCostAndDeriv()

void CostFunctionPyreneActuator::computeCostAndDeriv	(	const stateVec_t &	X,
		const stateVec_t &	Xdes,
		const commandVec_t &	U
	)

◆ computeFinalCostAndDeriv()

void CostFunctionPyreneActuator::computeFinalCostAndDeriv	(	const stateVec_t &	X,
		const stateVec_t &	Xdes
	)

◆ computeTauConstraintsAndDeriv()

void CostFunctionPyreneActuator::computeTauConstraintsAndDeriv ( const commandVec_t & U )

◆ setCostGainCommand()

void CostFunctionPyreneActuator::setCostGainCommand ( const commandMat_t & R )

◆ setCostGainState()

void CostFunctionPyreneActuator::setCostGainState ( const stateMat_t & Q )

◆ setCostGainStateConstraint()

void CostFunctionPyreneActuator::setCostGainStateConstraint ( const stateMat_t & W )

◆ setCostGainTorqueConstraint()

void CostFunctionPyreneActuator::setCostGainTorqueConstraint ( const commandMat_t & P )

◆ setJointLimit()

void CostFunctionPyreneActuator::setJointLimit	(	const double &	limitUp,
		const double &	limitDown
	)

◆ setJointVelLimit()

void CostFunctionPyreneActuator::setJointVelLimit	(	const double &	limitUp,
		const double &	limitDown
	)

◆ setTauLimit()

void CostFunctionPyreneActuator::setTauLimit ( const double & limit )

Member Data Documentation

◆ K

const double CostFunctionPyreneActuator::K = 10.6

static

◆ offset_m

const double CostFunctionPyreneActuator::offset_m = 0.5572