gcop::GunicycleCost Class Reference

#include <gunicyclecost.h>

Inheritance diagram for gcop::GunicycleCost:

Collaboration diagram for gcop::GunicycleCost:

List of all members.

Public Member Functions
	GunicycleCost (Gunicycle &sys, double tf, const M3V2d &xf)
double	L (double t, const M3V2d &x, const Vector2d &u, double h, Vector5d *Lx=0, Matrix5d *Lxx=0, Vector2d *Lu=0, Matrix2d *Luu=0, Matrix52d *Lxu=0)

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Constructor & Destructor Documentation

GunicycleCost::GunicycleCost	(	Gunicycle &	sys,
		double	tf,
		const M3V2d &	xf
	)

References gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >::Q, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >::Qf, and gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >::R.

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Member Function Documentation

double GunicycleCost::L	(	double	t,
		const M3V2d &	x,
		const Vector2d &	u,
		double	h,
		Vector5d *	Lx = 0,
		Matrix5d *	Lxx = 0,
		Vector2d *	Lu = 0,
		Matrix2d *	Luu = 0,
		Matrix52d *	Lxu = 0
	)

References gcop::SE2::g2q(), gcop::SE2::Instance(), gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >::Q, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >::Qf, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >::R, gcop::Cost< M3V2d, _nx, _nu, _np, M3V2d >::tf, and gcop::SE2::Tg().

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

• lib/systems/costs/gunicyclecost.h
• lib/systems/costs/gunicyclecost.cc