costfunctionromeoactuator.hh

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#ifndef COSTFUNCTIONROMEOACTUATOR_H
#define COSTFUNCTIONROMEOACTUATOR_H
 
#include <ddp-actuator-solver/costfunction.hh>
 
class CostFunctionRomeoActuator : public CostFunction<double, 4, 1> {
 public:
  CostFunctionRomeoActuator();
 
 private:
  stateMat_t Q;
  commandMat_t R;
  double dt;
 
 protected:
  // attributes //
 public:
 private:
 protected:
  // methods //
 public:
  void computeCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes,
                           const commandVec_t& U);
  void computeFinalCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes);
 
 private:
 protected:
  // accessors //
 public:
};
 
#endif  // COSTFUNCTIONROMEOACTUATOR_H