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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/temperature_control/costtemp.cpp	Lines:	0	19	0.0 %
Date:	2023-06-02 15:50:43	Branches:	0	106	0.0 %


#include "ddp-actuator-solver/temperature_control/costtemp.hh"

CostTemp::CostTemp() {
  Q << 1.0, 0.0, 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, 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, 0.0;
  lxu << 0.0, 0.0, 0.0, 0.0, 0.0;
  lx.setZero();
  final_cost = 0;
  running_cost = 0;
}

void CostTemp::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 CostTemp::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/temperature_control/costtemp.hh"
2
3			CostTemp::CostTemp() {
4			Q << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
5			0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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, 0.0;
11			lxu << 0.0, 0.0, 0.0, 0.0, 0.0;
12			lx.setZero();
13			final_cost = 0;
14			running_cost = 0;
15			}
16
17			void CostTemp::computeCostAndDeriv(const stateVec_t& X, 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 CostTemp::computeFinalCostAndDeriv(const stateVec_t& X,
26			const stateVec_t& Xdes) {
27			lx = 1.0 * Q * (X - Xdes);
28			lxx = 1.0 * Q;
29			}