Head

GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/romeo_actuator/costfunctionromeoactuator.cpp	Lines:	0	19	0.0 %
Date:	2023-06-02 15:50:43	Branches:	0	84	0.0 %


#include "ddp-actuator-solver/romeo_actuator/costfunctionromeoactuator.hh"

CostFunctionRomeoActuator::CostFunctionRomeoActuator() {
  Q << 1.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
      0.0, 0.0;
  R << 0.0001;

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

void CostFunctionRomeoActuator::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 CostFunctionRomeoActuator::computeFinalCostAndDeriv(
    const stateVec_t& X, const stateVec_t& Xdes) {
  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/romeo_actuator/costfunctionromeoactuator.hh"
2
3			CostFunctionRomeoActuator::CostFunctionRomeoActuator() {
4			Q << 1.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
5			0.0, 0.0;
6			R << 0.0001;
7
8			lxx = Q;
9			luu = R;
10			lux << 0.0, 0.0, 0.0, 0.0;
11			lxu << 0.0, 0.0, 0.0, 0.0;
12			lx.setZero();
13			final_cost = 0;
14			running_cost = 0;
15			}
16
17			void CostFunctionRomeoActuator::computeCostAndDeriv(const stateVec_t& X,
18			const stateVec_t& Xdes,
19			const commandVec_t& U) {
20			running_cost =
21			((X - Xdes).transpose() * Q * (X - Xdes) + U.transpose() * R * U)(0, 0);
22			lx = Q * (X - Xdes);
23			lu = R * U;
24			}
25
26			void CostFunctionRomeoActuator::computeFinalCostAndDeriv(
27			const stateVec_t& X, const stateVec_t& Xdes) {
28			lx = 1.0 * Q * (X - Xdes);
29			lxx = 1.0 * Q;
30			}