#include <body2dcost.h>
Inheritance diagram for gcop::Body2dCost< c >:
Collaboration diagram for gcop::Body2dCost< c >:
Public Types | |
| typedef Matrix< double, c, 1 > | Vectorcd |
| typedef Matrix< double, 6, c > | Matrix6cd |
| typedef Matrix< double, 3, c > | Matrix3cd |
| typedef Matrix< double, c, c > | Matrixcd |
Public Member Functions | |
| Body2dCost (Body2d< c > &sys, double tf, const Body2dState &xf) | |
| double | L (double t, const Body2dState &x, const Vectorcd &u, double h, Vector6d *Lx=0, Matrix6d *Lxx=0, Vectorcd *Lu=0, Matrixcd *Luu=0, Matrix6cd *Lxu=0) |
Public Attributes | |
| Body2dTrack * | track |
| double | ko |
| obstacle avoidance gain | |
template<int c = 3>
class gcop::Body2dCost< c >
Member Typedef Documentation
template<int c = 3>
| typedef Matrix<double, 3, c> gcop::Body2dCost< c >::Matrix3cd |
template<int c = 3>
| typedef Matrix<double, 6, c> gcop::Body2dCost< c >::Matrix6cd |
template<int c = 3>
| typedef Matrix<double, c, c> gcop::Body2dCost< c >::Matrixcd |
Reimplemented from gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >.
template<int c = 3>
| typedef Matrix<double, c, 1> gcop::Body2dCost< c >::Vectorcd |
Reimplemented from gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >.
Constructor & Destructor Documentation
template<int c>
| gcop::Body2dCost< c >::Body2dCost | ( | Body2d< c > & | sys, |
| double | tf, | ||
| const Body2dState & | xf | ||
| ) |
Member Function Documentation
template<int c>
| double gcop::Body2dCost< c >::L | ( | double | t, |
| const Body2dState & | x, | ||
| const Vectorcd & | u, | ||
| double | h, | ||
| Vector6d * | Lx = 0, |
||
| Matrix6d * | Lxx = 0, |
||
| Vectorcd * | Lu = 0, |
||
| Matrixcd * | Luu = 0, |
||
| Matrix6cd * | Lxu = 0 |
||
| ) |
References gcop::SE2::g2q(), gcop::SE2::Instance(), gcop::SE2::inv(), gcop::Body2dCost< c >::ko, gcop::Body2dTrack::ls, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >::Q, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >::Qf, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >::R, gcop::Cost< Body2dState, _nx, _nu, _np, Body2dState >::tf, gcop::SE2::Tg(), gcop::Body2dCost< c >::track, gcop::Body2dTrack::w, and gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >::xf.
Member Data Documentation
template<int c = 3>
| double gcop::Body2dCost< c >::ko |
obstacle avoidance gain
Referenced by gcop::Body2dCost< c >::L().
template<int c = 3>
| Body2dTrack* gcop::Body2dCost< c >::track |
Referenced by gcop::Body2dCost< c >::L().
The documentation for this class was generated from the following files:
- lib/systems/costs/body2dcost.h
- lib/systems/costs/body2dcost.cc
