GCOP  1.0
Public Types | Public Member Functions | Public Attributes
gcop::Cost< T, _nx, _nu, _np, Tc > Class Template Reference

#include <cost.h>

Inheritance diagram for gcop::Cost< T, _nx, _nu, _np, Tc >:
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List of all members.

Public Types

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

 Cost (System< T, _nx, _nu, _np > &sys, double tf)
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)
virtual bool SetContext (const Tc &c)

Public Attributes

System< T, _nx, _nu, _np > & sys
 system
double tf
 final time of trajectory

Detailed Description

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
class gcop::Cost< T, _nx, _nu, _np, Tc >

Cost interface for optimal control on manifolds. Defines a cost function and means to compute difference between two states on a manifold.

Subclasses should provide implementation of either a regular const function L or a parameter-dependent cost function Lp (e.g. for sys id / adaptive control / optimal design problems)

Author: Marin Kobilarov marin(at)jhu.edu

Member Typedef Documentation

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nu, _nu> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixcd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, gcop::LqCost< Matrix4d, 6, _nu >, and gcop::Body2dCost< c >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nu, _nx> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixcnd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _np, _np> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixmd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _np, _nx> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixmnd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nx, _nu> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixncd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nx, _nx> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixnd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nx, _np> gcop::Cost< T, _nx, _nu, _np, Tc >::Matrixnmd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nu, 1> gcop::Cost< T, _nx, _nu, _np, Tc >::Vectorcd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, gcop::LqCost< Matrix4d, 6, _nu >, and gcop::Body2dCost< c >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _np, 1> gcop::Cost< T, _nx, _nu, _np, Tc >::Vectormd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
typedef Matrix<double, _nx, 1> gcop::Cost< T, _nx, _nu, _np, Tc >::Vectornd

Reimplemented in gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >, gcop::LsCost< Body3dState, _nx, _nu, _np, _ng, Body3dState >, gcop::LsCost< M3V2d, _nx, _nu, _np, _ng, M3V2d >, gcop::LsCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nx, 1 > >, gcop::LsCost< Body2dState, _nx, _nu, _np, _ng, Body2dState >, gcop::LsCost< Matrix4d, _nx, _nu, Dynamic, Dynamic, Matrix4d >, gcop::LsCost< MbsState< nb >, _nx, _nu, Dynamic, Dynamic, MbsState< nb > >, gcop::LsCost< M3V2d, _nx, _nu, Dynamic, Dynamic, M3V2d >, gcop::LsCost< T, _nx, _nu, _np, _ng >, gcop::LsCost< T, _nx, _nu, _np, _ng, T >, gcop::MultiCost< T, _nx, _nu, _np >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

Constructor & Destructor Documentation

template<typename T, int _nx, int _nu, int _np, typename Tc >
gcop::Cost< T, _nx, _nu, _np, Tc >::Cost ( System< T, _nx, _nu, _np > &  sys,
double  tf 
)

create a cost interface

Parameters:
Xthe state manifold which is used to perform addition/subtraction of states
tftime horizon: when the cost function L is called it will internally check whether its argument t is equation to tf and return the terminal cost

Member Function Documentation

template<typename T, int _nx, int _nu, int _np, typename Tc >
double gcop::Cost< T, _nx, _nu, _np, Tc >::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:
systhe system for which cost function is defined. Provides the system manifold X
Costfunction L
ttime
xstate
ucontrol
htime-step
Lxderivative wrt x
Lxxderivative wrt x,x
Luderivative wrt u
Luuderivative wrt u,u
Lxuderivative wrt x,u

Reimplemented in gcop::MultiCost< T, _nx, _nu, _np >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, gcop::LqCost< Matrix4d, 6, _nu >, gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, and gcop::ConstraintCost< T, _nx, _nu, _np, 1 >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
virtual bool gcop::Cost< T, _nx, _nu, _np, Tc >::SetContext ( const Tc &  c) [inline, virtual]

Set context for the cost

Parameters:
ccontext
Returns:
true if successful

Reimplemented in gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

Member Data Documentation

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
System<T, _nx, _nu, _np>& gcop::Cost< T, _nx, _nu, _np, Tc >::sys

system

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tc = T>
double gcop::Cost< T, _nx, _nu, _np, Tc >::tf

final time of trajectory

The documentation for this class was generated from the following file:
Generated on Wed May 13 2015 21:58:49 for GCOP by   doxygen 1.7.6.1