gcop::KinRccarPathCost Class Reference

#include <kinrccarpathcost.h>

Inheritance diagram for gcop::KinRccarPathCost:

Collaboration diagram for gcop::KinRccarPathCost:

List of all members.

Public Types
typedef Matrix< double, 6, 1 >	Vector6d
typedef Matrix< double, 6, 6 >	Matrix6d
Public Member Functions
	KinRccarPathCost (double tf, const KinRccarPath &pg)
double	L (double t, const Matrix4d &x, const Vector2d &u, double h, const VectorXd *p, Vector6d *Lx=0, Matrix6d *Lxx=0, Vector2d *Lu=0, Matrix2d *Luu=0, Matrix< double, 6, 2 > *Lxu=0, VectorXd *Lp=0, MatrixXd *Lpp=0, MatrixX6d *Lpx=0)
Public Attributes
const KinRccarPath &	pg

---

Member Typedef Documentation

typedef Matrix<double, 6, 6> gcop::KinRccarPathCost::Matrix6d

typedef Matrix<double, 6, 1> gcop::KinRccarPathCost::Vector6d

---

Constructor & Destructor Documentation

gcop::KinRccarPathCost::KinRccarPathCost	(	double	tf,
		const KinRccarPath &	pg
	)

---

Member Function Documentation

double gcop::KinRccarPathCost::L	(	double	t,
		const Matrix4d &	x,
		const Vector2d &	u,
		double	h,
		const VectorXd *	p,
		Vector6d *	Lx = 0,
		Matrix6d *	Lxx = 0,
		Vector2d *	Lu = 0,
		Matrix2d *	Luu = 0,
		Matrix< double, 6, 2 > *	Lxu = 0,
		VectorXd *	Lp = 0,
		MatrixXd *	Lpp = 0,
		MatrixX6d *	Lpx = 0
	)

References gcop::KinRccarPath::cp, gcop::KinRccarPath::cv, gcop::KinRccarPath::cw, gcop::Kinbody3d< _nu >::d, gcop::KinRccarPath::estimate_length, gcop::KinRccarPath::extforce, gcop::KinRccarPath::forces, pg, gcop::r3hat(), gcop::KinRccarPath::sys, gcop::Cost< Matrix4d, 6, 2 >::tf, gcop::KinRccarPath::uos, gcop::KinRccarPath::vs, gcop::KinRccarPath::wheel_odometry, gcop::KinRccarPath::yaw_odometry, and gcop::KinRccarPath::zs.

---

Member Data Documentation

const KinRccarPath& gcop::KinRccarPathCost::pg

Referenced by L().

---

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

• lib/systems/costs/kinrccarpathcost.h