gcop::ConstraintCost< T, _nx, _nu, _np, _ng > Class Template Reference

#include <constraintcost.h>

Inheritance diagram for gcop::ConstraintCost< T, _nx, _nu, _np, _ng >:

Collaboration diagram for gcop::ConstraintCost< T, _nx, _nu, _np, _ng >:

List of all members.

Public Types
typedef Matrix< double, _ng, 1 >	Vectorgd
typedef Matrix< double, _ng, _nx >	Matrixgnd
typedef Matrix< double, _ng, _nu >	Matrixgcd
typedef Matrix< double, _ng, _np >	Matrixgmd
typedef Matrix< double, _nx, 1 >	Vectornd
typedef Matrix< double, _nu, 1 >	Vectorcd
typedef Matrix< double, _np, 1 >	Vectormd
typedef Matrix< double, _nx, _nx >	Matrixnd
typedef Matrix< double, _nx, _nu >	Matrixncd
typedef Matrix< double, _nu, _nx >	Matrixcnd
typedef Matrix< double, _nu, _nu >	Matrixcd
typedef Matrix< double, _np, _np >	Matrixmd
typedef Matrix< double, _nx, _np >	Matrixnmd
typedef Matrix< double, _np, _nx >	Matrixmnd
Public Member Functions
	ConstraintCost (System< T, _nx, _nu, _np > &sys, double tf, Constraint< T, _nx, _nu, _np, _ng > &con)
virtual double	L (double t, const T &x, const Vectorcd &u, double h, const Vectormd *p=0, Vectornd *Lx=0, Matrixnd *Lxx=0, Vectorcd *Lu=0, Matrixcd *Luu=0, Matrixncd *Lxu=0, Vectormd *Lp=0, Matrixmd *Lpp=0, Matrixmnd *Lpx=0)
Public Attributes
Constraint< T, _nx, _nu, _np, _ng > &	con
double	b
	penalty coefficient (default is 1)
Protected Attributes
Vectorgd	gp
	active residuals
Matrixgnd	dgdx
	gradients

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>
class gcop::ConstraintCost< T, _nx, _nu, _np, _ng >

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Member Typedef Documentation

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, _nu> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixcd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, _nx> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixcnd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _nu> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixgcd

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _np> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixgmd

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _nx> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixgnd

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, _np> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixmd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, _nx> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixmnd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _nu> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixncd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _nx> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixnd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _np> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Matrixnmd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, 1> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Vectorcd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, 1> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Vectorgd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, 1> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Vectormd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, 1> gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::Vectornd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng >.

Reimplemented in gcop::PqpDemCost< T, _nx, _nu, _np >.

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Constructor & Destructor Documentation

template<typename T, int _nx, int _nu, int _np, int _ng>

gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::ConstraintCost	(	System< T, _nx, _nu, _np > &	sys,
		double	tf,
		Constraint< T, _nx, _nu, _np, _ng > &	con
	)

Linear-quadratic cost on a general manifold. Use this constructor for dynamic-size control problem, i.e. ConstraintCost<T>(X, U, tf, xf, ...)

Parameters:

sys	system
tf	final time
con	constraint

References gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::dgdx, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::gp, gcop::Constraint< T, _nx, _nu, _np, _ng >::ng, and gcop::System< T, _nx, _nu, _np >::X.

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Member Function Documentation

template<typename T, int _nx, int _nu, int _np, int _ng>

double gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::L	(	double	t,
		const T &	x,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p = 0,
		Vectornd *	Lx = 0,
		Matrixnd *	Lxx = 0,
		Vectorcd *	Lu = 0,
		Matrixcd *	Luu = 0,
		Matrixncd *	Lxu = 0,
		Vectormd *	Lp = 0,
		Matrixmd *	Lpp = 0,
		Matrixmnd *	Lpx = 0
	)		[virtual]

Create a Sensor Based Cost interface

Parameters:

sys	the system for which cost function is defined. Provides the system manifold X
Cost	function L
t	time
x	state
u	control
h	time-step
Lx	derivative wrt x
Lxx	derivative wrt x,x
Lu	derivative wrt u
Luu	derivative wrt u,u
Lxu	derivative wrt x,u

Reimplemented from gcop::Cost< T, _nx, _nu, _np, T >.

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Member Data Documentation

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

double gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::b

penalty coefficient (default is 1)

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Constraint<T, _nx, _nu, _np, _ng>& gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::con

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixgnd gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::dgdx [protected]

gradients

Referenced by gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::ConstraintCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Vectorgd gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::gp [protected]

active residuals

Referenced by gcop::ConstraintCost< T, _nx, _nu, _np, _ng >::ConstraintCost().

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

• lib/systems/costs/constraintcost.h