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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/linear/costLinear.cpp	Lines:	0	19	0.0 %
Date:	2023-06-02 15:50:43	Branches:	0	64	0.0 %


#include "ddp-actuator-solver/linear/costLinear.hh"

CostLinear::CostLinear() {
  Q << 1.0, 0.0, 0.0, 0.0;
  R << 0.1 * 0.01;

  lxx = Q;
  luu = R;
  lux << 0.0, 0.0;
  lxu << 0.0, 0.0;
  lx.setZero();
  final_cost = 0;
  running_cost = 0;
}

void CostLinear::computeCostAndDeriv(const stateVec_t& X,
                                     const stateVec_t& Xdes,
                                     const commandVec_t& U) {
  running_cost =
      ((X - Xdes).transpose() * Q * (X - Xdes) + U.transpose() * R * U)(0, 0);
  lx = Q * (X - Xdes);
  lu = R * U;
}

void CostLinear::computeFinalCostAndDeriv(const stateVec_t& X,
                                          const stateVec_t& Xdes) {
  final_cost = ((X - Xdes).transpose() * 1.0 * Q * (X - Xdes))(0, 0);
  lx = 1.0 * Q * (X - Xdes);
  lxx = 1.0 * Q;
}


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			#include "ddp-actuator-solver/linear/costLinear.hh"
2
3			CostLinear::CostLinear() {
4			Q << 1.0, 0.0, 0.0, 0.0;
5			R << 0.1 * 0.01;
6
7			lxx = Q;
8			luu = R;
9			lux << 0.0, 0.0;
10			lxu << 0.0, 0.0;
11			lx.setZero();
12			final_cost = 0;
13			running_cost = 0;
14			}
15
16			void CostLinear::computeCostAndDeriv(const stateVec_t& X,
17			const stateVec_t& Xdes,
18			const commandVec_t& U) {
19			running_cost =
20			((X - Xdes).transpose() * Q * (X - Xdes) + U.transpose() * R * U)(0, 0);
21			lx = Q * (X - Xdes);
22			lu = R * U;
23			}
24
25			void CostLinear::computeFinalCostAndDeriv(const stateVec_t& X,
26			const stateVec_t& Xdes) {
27			final_cost = ((X - Xdes).transpose() * 1.0 * Q * (X - Xdes))(0, 0);
28			lx = 1.0 * Q * (X - Xdes);
29			lxx = 1.0 * Q;
30			}