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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/ddp-actuator-solver/costfunction.hh	Lines:	0	7	0.0 %
Date:	2023-06-02 15:50:43	Branches:	0	0	- %


#ifndef COSTFUNCTION_H
#define COSTFUNCTION_H

#include <Eigen/Core>

template <typename precision, int stateSize, int commandSize>
class CostFunction {
 public:
  typedef Eigen::Matrix<precision, stateSize, 1> stateVec_t;  // 1 x stateSize
  typedef Eigen::Matrix<precision, 1, stateSize>
      stateVecTrans_t;  // 1 x stateSize
  typedef Eigen::Matrix<precision, stateSize, stateSize>
      stateMat_t;  // stateSize x stateSize
  typedef Eigen::Matrix<precision, stateSize, stateSize>
      stateTens_t[stateSize];  // stateSize x stateSize x stateSize

  // typedef for commandSize types
  typedef Eigen::Matrix<precision, commandSize, 1>
      commandVec_t;  // commandSize x 1
  typedef Eigen::Matrix<precision, 1, commandSize>
      commandVecTrans_t;  // 1 x commandSize
  typedef Eigen::Matrix<precision, commandSize, commandSize>
      commandMat_t;  // commandSize x commandSize
  typedef Eigen::Matrix<precision, commandSize, commandSize>
      commandTens_t[commandSize];  // stateSize x commandSize x commandSize

  // typedef for mixed stateSize and commandSize types
  typedef Eigen::Matrix<precision, stateSize, commandSize>
      stateR_commandC_t;  // stateSize x commandSize
  typedef Eigen::Matrix<precision, stateSize, commandSize>
      stateR_commandC_stateD_t[stateSize];  // stateSize x commandSize x
                                            // stateSize
  typedef Eigen::Matrix<precision, stateSize, commandSize>
      stateR_commandC_commandD_t[commandSize];  // stateSize x commandSize x
                                                // commandSize
  typedef Eigen::Matrix<precision, commandSize, stateSize>
      commandR_stateC_t;  // commandSize x stateSize
  typedef Eigen::Matrix<precision, commandSize, stateSize>
      commandR_stateC_stateD_t[stateSize];  // commandSize x stateSize x
                                            // stateSize
  typedef Eigen::Matrix<precision, commandSize, stateSize>
      commandR_stateC_commandD_t[commandSize];  // commandSize x stateSize x
                                                // commandSize
  typedef Eigen::Matrix<precision, stateSize, stateSize>
      stateR_stateC_commandD_t[commandSize];  // stateSize x stateSize x
                                              // commandSize
  typedef Eigen::Matrix<precision, commandSize, commandSize>
      commandR_commandC_stateD_t[stateSize];  // commandSize x commandSize x
                                              // stateSize

 public:
 private:
 protected:
  // attributes //
 public:
 private:
 protected:
  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;
  // methods //
 public:
  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;

 private:
 protected:
  // accessors //
 public:
  double& getRunningCost() { return running_cost; }
  double& getFinalCost() { return final_cost; }
  stateVec_t& getlx() { return lx; }
  stateMat_t& getlxx() { return lxx; }
  commandVec_t& getlu() { return lu; }
  commandMat_t& getluu() { return luu; }
  commandR_stateC_t& getlux() { return lux; }
  stateR_commandC_t& getlxu() { return lxu; }
};

#endif  // COSTFUNCTION_H


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			#ifndef COSTFUNCTION_H
2			#define COSTFUNCTION_H
3
4			#include <Eigen/Core>
5
6			template <typename precision, int stateSize, int commandSize>
7			class CostFunction {
8			public:
9			typedef Eigen::Matrix<precision, stateSize, 1> stateVec_t; // 1 x stateSize
10			typedef Eigen::Matrix<precision, 1, stateSize>
11			stateVecTrans_t; // 1 x stateSize
12			typedef Eigen::Matrix<precision, stateSize, stateSize>
13			stateMat_t; // stateSize x stateSize
14			typedef Eigen::Matrix<precision, stateSize, stateSize>
15			stateTens_t[stateSize]; // stateSize x stateSize x stateSize
16
17			// typedef for commandSize types
18			typedef Eigen::Matrix<precision, commandSize, 1>
19			commandVec_t; // commandSize x 1
20			typedef Eigen::Matrix<precision, 1, commandSize>
21			commandVecTrans_t; // 1 x commandSize
22			typedef Eigen::Matrix<precision, commandSize, commandSize>
23			commandMat_t; // commandSize x commandSize
24			typedef Eigen::Matrix<precision, commandSize, commandSize>
25			commandTens_t[commandSize]; // stateSize x commandSize x commandSize
26
27			// typedef for mixed stateSize and commandSize types
28			typedef Eigen::Matrix<precision, stateSize, commandSize>
29			stateR_commandC_t; // stateSize x commandSize
30			typedef Eigen::Matrix<precision, stateSize, commandSize>
31			stateR_commandC_stateD_t[stateSize]; // stateSize x commandSize x
32			// stateSize
33			typedef Eigen::Matrix<precision, stateSize, commandSize>
34			stateR_commandC_commandD_t[commandSize]; // stateSize x commandSize x
35			// commandSize
36			typedef Eigen::Matrix<precision, commandSize, stateSize>
37			commandR_stateC_t; // commandSize x stateSize
38			typedef Eigen::Matrix<precision, commandSize, stateSize>
39			commandR_stateC_stateD_t[stateSize]; // commandSize x stateSize x
40			// stateSize
41			typedef Eigen::Matrix<precision, commandSize, stateSize>
42			commandR_stateC_commandD_t[commandSize]; // commandSize x stateSize x
43			// commandSize
44			typedef Eigen::Matrix<precision, stateSize, stateSize>
45			stateR_stateC_commandD_t[commandSize]; // stateSize x stateSize x
46			// commandSize
47			typedef Eigen::Matrix<precision, commandSize, commandSize>
48			commandR_commandC_stateD_t[stateSize]; // commandSize x commandSize x
49			// stateSize
50
51			public:
52			private:
53			protected:
54			// attributes //
55			public:
56			private:
57			protected:
58			double dt;
59			double final_cost;
60			double running_cost;
61			stateVec_t lx;
62			stateMat_t lxx;
63			commandVec_t lu;
64			commandMat_t luu;
65			commandR_stateC_t lux;
66			stateR_commandC_t lxu;
67			// methods //
68			public:
69			virtual void computeCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes,
70			const commandVec_t& U) = 0;
71			virtual void computeFinalCostAndDeriv(const stateVec_t& X,
72			const stateVec_t& Xdes) = 0;
73
74			private:
75			protected:
76			// accessors //
77			public:
78			double& getRunningCost() { return running_cost; }
79			double& getFinalCost() { return final_cost; }
80			stateVec_t& getlx() { return lx; }
81			stateMat_t& getlxx() { return lxx; }
82			commandVec_t& getlu() { return lu; }
83			commandMat_t& getluu() { return luu; }
84			commandR_stateC_t& getlux() { return lux; }
85			stateR_commandC_t& getlxu() { return lxu; }
86			};
87
88			#endif // COSTFUNCTION_H