CostLinear Class Reference
#include <ddp-actuator-solver/linear/costLinear.hh>
Inheritance diagram for CostLinear:
Collaboration diagram for CostLinear:
Public Member Functions | |
| CostLinear () | |
| void | computeCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes, const commandVec_t &U) |
| void | computeFinalCostAndDeriv (const stateVec_t &X, const stateVec_t &Xdes) |
 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 () |
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
◆ CostLinear()
| CostLinear::CostLinear | ( | ) |
Member Function Documentation
◆ computeCostAndDeriv()
| void CostLinear::computeCostAndDeriv | ( | const stateVec_t & | X, |
| const stateVec_t & | Xdes, | ||
| const commandVec_t & | U | ||
| ) |
◆ computeFinalCostAndDeriv()
| void CostLinear::computeFinalCostAndDeriv | ( | const stateVec_t & | X, |
| const stateVec_t & | Xdes | ||
| ) |
The documentation for this class was generated from the following files:
- include/ddp-actuator-solver/linear/costLinear.hh
- src/linear/costLinear.cpp
