#include <doep.h>

Collaboration diagram for gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >:

Public Member Functions
	Doep (System< T, nx, nu, np > &sys, Sensor< T1, nx1, nu, np, Tz, nz > &sensor, SensorCost< T, nx, nu, np, Tz, nz > &cost, vector< double > &ts, vector< T > &xs, vector< Vectorcd > &us, Vectormd &p, vector< double > &ts1, Func_type _project=NULL, bool update=true)
virtual	~Doep ()
virtual void	Iterate ()
void	Update (bool der=true)
Public Attributes
System< T, nx, nu, np > &	sys
	dynamical system
Sensor< T1, nx1, nu, np, Tz, nz > &	sensor
	sensor
SensorCost< T, nx, nu, np, Tz, nz > &	cost
	given cost function
std::vector< double > &	ts
	times (N+1) vector
std::vector< double > &	ts1
	times (N+1) vector for sensor measurements
std::vector< T > &	xs
	states (N+1) vector
std::vector< Vectorcd > &	us
	controls (N) vector
Vectormd &	p
	parameter vector
std::vector< Vectornd >	ws
	Internal process noise.
std::vector< Vectorrd >	zs
	Internal sensor measurements.
bool	debug
	whether to display debugging info
double	eps
	epsilon used for finite differences
Func_type	project
	Project T to T1 will add jacobians later.

template<typename T, int nx = Dynamic, int nu = Dynamic, int np = Dynamic, typename Tz = VectorXd, int nz = Dynamic, typename T1 = T, int nx1 = nx>
class gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >

Constructor & Destructor Documentation

template<typename T, int nx, int nu, int np, typename Tz, int nz, typename T1, int nx1>

gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Doep	(	System< T, nx, nu, np > &	sys,
		Sensor< T1, nx1, nu, np, Tz, nz > &	sensor,
		SensorCost< T, nx, nu, np, Tz, nz > &	cost,
		vector< double > &	ts,
		vector< T > &	xs,
		vector< Vectorcd > &	us,
		Vectormd &	p,
		vector< double > &	ts1,
		Func_type	_project = `NULL`,
		bool	update = `true`
	)

Create a discrete optimal estimation problem using a system, sensor, a cost, and a trajectory given by a sequence of times, states, and controls. The controls us are provided. The times ts must be given, the initial state xs[0] must be set.

After initialization, every call to Iterate() will optimize the parameters p and process noise wi are varied to fit the measurements in the sensorcost

Parameters:

sys	system
sensor	sensor
cost	cost
ts	(N+1) sequence of discrete times
ts1	(N1+1) sequence of discrete times for sensor measurements
xs	(N+1) sequence of discrete states
us	(N) sequence of control inputs
update	whether to update trajectory xs using initial state xs[0] and inputs us. This is necessary only if xs was not already generated from us.

References gcop::Manifold< T, _n >::n, gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Update(), gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::us, gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::ws, gcop::System< T, _nx, _nu, _np >::X, gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >::Z, and gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::zs.

template<typename T , int nx, int nu, int np, typename Tz , int nz, typename T1 , int nx1>

gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::~Doep ( ) [virtual]

Member Function Documentation

template<typename T , int nx, int nu, int np, typename Tz , int nz, typename T1 , int nx1>

void gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Iterate ( ) [virtual]

Perform one DOCP iteration.

Reimplemented in gcop::GnDoep< T, _nx, _nu, _np, _ng, Tz, _nz, T1, _nx1 >, and gcop::GnDoep1< T, _nx, _nu, _np, _ng, Tz, _nz, T1, _nx1 >.

template<typename T , int nx, int nu, int np, typename Tz , int nz, typename T1 , int nx1>

void gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Update ( bool der = true )

Update the trajectory and sensor measurements

Parameters:

der	NOT USED RIGHT NOW

Referenced by gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Doep().