GCOP
1.0
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#include <body2dtrackcost.h>
Public Member Functions | |
Body2dTrackCost (double tf, const Body2dTrack &pg) | |
double | L (double t, const Body2dState &x, const Vector3d &u, double h, 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 Body2dTrack & | pg |
Body2dTrackCost::Body2dTrackCost | ( | double | tf, |
const Body2dTrack & | pg | ||
) |
double Body2dTrackCost::L | ( | double | t, |
const Body2dState & | x, | ||
const Vector3d & | u, | ||
double | h, | ||
const VectorXd * | p, | ||
Vector6d * | Lx = 0 , |
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Matrix6d * | Lxx = 0 , |
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Vector3d * | Lu = 0 , |
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Matrix3d * | Luu = 0 , |
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Matrix63d * | Lxu = 0 , |
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VectorXd * | Lp = 0 , |
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MatrixXd * | Lpp = 0 , |
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MatrixX6d * | Lpx = 0 |
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) |
References gcop::Body2dTrack::cis, gcop::Body2dTrack::cp, cross2(), gcop::Body2dTrack::cv, gcop::Body2dTrack::cw, gcop::Body2dTrack::extforce, gcop::Body2dTrack::forces, gcop::Body2dTrack::Is, gcop::Body2dTrack::odometry, pg, r2hat(), gcop::Cost< Body2dState, 6, 3 >::tf, gcop::Body2dTrack::uos, and gcop::Body2dTrack::vs.
Referenced by L().