#include <bacost.h>
Inheritance diagram for gcop::BaCost:
Collaboration diagram for gcop::BaCost:
Public Member Functions | |
| BaCost (Kinbody2d &sys, double tf, const Posegraph2d &pg) | |
| double | L (double t, const Matrix3d &x, const Vector3d &u, double h, const VectorXd *p, Vector3d *Lx=0, Matrix3d *Lxx=0, Vector3d *Lu=0, Matrix3d *Luu=0, Matrix3d *Lxu=0, VectorXd *Lp=0, MatrixXd *Lpp=0, MatrixX3d *Lpx=0) |
Public Attributes | |
| const Posegraph2d & | pg |
Constructor & Destructor Documentation
| BaCost::BaCost | ( | Kinbody2d & | sys, |
| double | tf, | ||
| const Posegraph2d & | pg | ||
| ) |
Member Function Documentation
| double BaCost::L | ( | double | t, |
| const Matrix3d & | x, | ||
| const Vector3d & | u, | ||
| double | h, | ||
| const VectorXd * | p, | ||
| Vector3d * | Lx = 0, |
||
| Matrix3d * | Lxx = 0, |
||
| Vector3d * | Lu = 0, |
||
| Matrix3d * | Luu = 0, |
||
| Matrix3d * | Lxu = 0, |
||
| VectorXd * | Lp = 0, |
||
| MatrixXd * | Lpp = 0, |
||
| MatrixX3d * | Lpx = 0 |
||
| ) |
References gcop::Posegraph2d::cp, cross2(), gcop::Posegraph2d::Is, pg, and r2hat().
Member Data Documentation
| const Posegraph2d& gcop::BaCost::pg |
Referenced by L().
The documentation for this class was generated from the following files:
