gcop::Body2dSlamCost Class Reference

#include <body2dslamcost.h>

Inheritance diagram for gcop::Body2dSlamCost:

Collaboration diagram for gcop::Body2dSlamCost:

List of all members.

Public Member Functions
	Body2dSlamCost (Body2d<> &sys, double tf, const Body2dGraph &pg)
double	Lp (double t, const Body2dState &x, const Vector3d &u, const VectorXd &p, Vector6d *Lx=0, Matrix6d *Lxx=0, Vector3d *Lu=0, Matrix3d *Luu=0, Matrix63d *Lxu=0, VectorXd *Lp=0, MatrixXd *Lpp=0, MatrixX6d *Lpx=0)
Public Attributes
const Body2dGraph &	pg

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Constructor & Destructor Documentation

Body2dSlamCost::Body2dSlamCost	(	Body2d<> &	sys,
		double	tf,
		const Body2dGraph &	pg
	)

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Member Function Documentation

double Body2dSlamCost::Lp	(	double	t,
		const Body2dState &	x,
		const Vector3d &	u,
		const VectorXd &	p,
		Vector6d *	Lx = 0,
		Matrix6d *	Lxx = 0,
		Vector3d *	Lu = 0,
		Matrix3d *	Luu = 0,
		Matrix63d *	Lxu = 0,
		VectorXd *	Lp = 0,
		MatrixXd *	Lpp = 0,
		MatrixX6d *	Lpx = 0
	)

References gcop::Body2dGraph::cp, cross2(), gcop::Body2dGraph::cv, gcop::Body2dGraph::cw, gcop::Body2dGraph::extforce, gcop::Body2dGraph::forces, gcop::Body2dGraph::Is, gcop::Cost< Body2dState, 6, 3 >::L(), gcop::Body2dGraph::odometry, pg, r2hat(), gcop::Cost< Body2dState, 6, 3 >::tf, gcop::Body2dGraph::us, and gcop::Body2dGraph::vs.

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Member Data Documentation

const Body2dGraph& gcop::Body2dSlamCost::pg

Referenced by Lp().

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The documentation for this class was generated from the following files:

• lib/algos/body2dslamcost.h
• lib/algos/body2dslamcost.cc