gcop::KinbodyProjTrackCost< _nu > Class Template Reference

#include <kinbodyprojtrackcost.h>

Inheritance diagram for gcop::KinbodyProjTrackCost< _nu >:

Collaboration diagram for gcop::KinbodyProjTrackCost< _nu >:

List of all members.

Public Types
typedef Matrix< double, _nu, _nu >	Matrixud
typedef Matrix< double, _nu, 1 >	Vectorud
typedef Matrix< double, 6, 1 >	Vector6d
typedef Matrix< double, 6, 6 >	Matrix6d
Public Member Functions
	KinbodyProjTrackCost (double tf, const KinbodyProjTrack< _nu > &pg)
double	L (double t, const Matrix4d &x, const Vectorud &u, double h, const VectorXd *p, Vector6d *Lx=0, Matrix6d *Lxx=0, Vectorud *Lu=0, Matrixud *Luu=0, Matrix< double, 6, _nu > *Lxu=0, VectorXd *Lp=0, MatrixXd *Lpp=0, MatrixX6d *Lpx=0)
void	test_d_xxt ()
void	test_kron ()
void	test_grads ()
Public Attributes
const KinbodyProjTrack< _nu > &	pg

template<int _nu = 6>
class gcop::KinbodyProjTrackCost< _nu >

---

Member Typedef Documentation

template<int _nu = 6>

typedef Matrix<double, 6, 6> gcop::KinbodyProjTrackCost< _nu >::Matrix6d

template<int _nu = 6>

typedef Matrix<double, _nu, _nu> gcop::KinbodyProjTrackCost< _nu >::Matrixud

template<int _nu = 6>

typedef Matrix<double, 6, 1> gcop::KinbodyProjTrackCost< _nu >::Vector6d

template<int _nu = 6>

typedef Matrix<double, _nu, 1> gcop::KinbodyProjTrackCost< _nu >::Vectorud

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Constructor & Destructor Documentation

template<int _nu>

gcop::KinbodyProjTrackCost< _nu >::KinbodyProjTrackCost	(	double	tf,
		const KinbodyProjTrack< _nu > &	pg
	)

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Member Function Documentation

template<int _nu>

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

References gcop::r3hat().

template<int _nu>

void gcop::KinbodyProjTrackCost< _nu >::test_d_xxt

(

)

template<int _nu>

void gcop::KinbodyProjTrackCost< _nu >::test_grads

(

)

References gcop::r3hat().

template<int _nu>

void gcop::KinbodyProjTrackCost< _nu >::test_kron

(

)

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Member Data Documentation

template<int _nu = 6>

const KinbodyProjTrack<_nu>& gcop::KinbodyProjTrackCost< _nu >::pg

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

• lib/systems/costs/kinbodyprojtrackcost.h