gcop::LqCost< T, _nx, _nu, _np, _ng > Class Template Reference

#include <lqcost.h>

Inheritance diagram for gcop::LqCost< T, _nx, _nu, _np, _ng >:

Collaboration diagram for gcop::LqCost< T, _nx, _nu, _np, _ng >:

List of all members.

Public Types
typedef Matrix< double, _ng, 1 >	Vectorgd
typedef Matrix< double, _ng, _nx >	Matrixgxd
typedef Matrix< double, _ng, _nu >	Matrixgud
typedef Matrix< double, _ng, _np >	Matrixgpd
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
	LqCost (System< T, _nx, _nu, _np > &sys, double tf, const T &xf, bool diag=true)
void	UpdateGains ()
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)
bool	Res (Vectorgd &g, double t, const T &x, const Vectorcd &u, double h, const Vectormd *p=0, Matrixgxd *dgdx=0, Matrixgud *dgdu=0, Matrixgpd *dgdp=0)
void	SetReference (const vector< T > *xds, const vector< Vectorcd > *uds)
virtual bool	SetContext (const T &c)
Public Attributes
const T *	xf
	reference to a desired final state
bool	diag
	are the Q, Qf, and R matrices diagonal (true by default)
Matrixnd	Q
	state matrix Q
Matrixnd	Qf
	final state matrix Qf
Matrixcd	R
	control matrix R
Matrixnd	Qsqrt
	state matrix Q sqrt
Matrixnd	Qfsqrt
	final state matrix Qf sqrt
Matrixcd	Rsqrt
	control matrix R sqrt
const vector< T > *	xds
	optional reference trajectory
const vector< Vectorcd > *	uds
	optional reference control
Protected Attributes
Vectornd	dx
	state error (as a tangent vector)
Vectorcd	du
	control error

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>
class gcop::LqCost< T, _nx, _nu, _np, _ng >

---

Member Typedef Documentation

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, _nu> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixcd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

Reimplemented in gcop::Body2dCost< c >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, _nx> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixcnd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _np> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixgpd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _nu> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixgud

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, _nx> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixgxd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, _np> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixmd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, _nx> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixmnd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _nu> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixncd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _nx> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixnd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, _np> gcop::LqCost< T, _nx, _nu, _np, _ng >::Matrixnmd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nu, 1> gcop::LqCost< T, _nx, _nu, _np, _ng >::Vectorcd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

Reimplemented in gcop::Body2dCost< c >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _ng, 1> gcop::LqCost< T, _nx, _nu, _np, _ng >::Vectorgd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _np, 1> gcop::LqCost< T, _nx, _nu, _np, _ng >::Vectormd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

typedef Matrix<double, _nx, 1> gcop::LqCost< T, _nx, _nu, _np, _ng >::Vectornd

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

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Constructor & Destructor Documentation

template<typename T, int _nx, int _nu, int _np, int _ng>

gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost	(	System< T, _nx, _nu, _np > &	sys,
		double	tf,
		const T &	xf,
		bool	diag = true
	)

Linear-quadratic cost on a general manifold. Use this constructor for dynamic-size control problem, i.e. LqCost<T>(X, U, tf, xf, ...)

Parameters:

X	state space
U	control space
tf	final time
xf	desired final state
diag	whether the Q, R, and Qf matrices are diagonal?

References gcop::LqCost< T, _nx, _nu, _np, _ng >::du, gcop::LqCost< T, _nx, _nu, _np, _ng >::dx, gcop::LqCost< T, _nx, _nu, _np, _ng >::Q, gcop::LqCost< T, _nx, _nu, _np, _ng >::Qf, gcop::LqCost< T, _nx, _nu, _np, _ng >::Qfsqrt, gcop::LqCost< T, _nx, _nu, _np, _ng >::Qsqrt, gcop::LqCost< T, _nx, _nu, _np, _ng >::R, gcop::LqCost< T, _nx, _nu, _np, _ng >::Rsqrt, gcop::System< T, _nx, _nu, _np >::U, gcop::LqCost< T, _nx, _nu, _np, _ng >::uds, gcop::LqCost< T, _nx, _nu, _np, _ng >::UpdateGains(), gcop::System< T, _nx, _nu, _np >::X, and gcop::LqCost< T, _nx, _nu, _np, _ng >::xds.

---

Member Function Documentation

template<typename T, int _nx, int _nu, int _np, int _ng>

double gcop::LqCost< T, _nx, _nu, _np, _ng >::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:

sys	the system for which cost function is defined. Provides the system manifold X
Cost	function L
t	time
x	state
u	control
h	time-step
Lx	derivative wrt x
Lxx	derivative wrt x,x
Lu	derivative wrt u
Luu	derivative wrt u,u
Lxu	derivative wrt x,u

Reimplemented from gcop::Cost< T, _nx, _nu, _np, T >.

template<typename T, int _nx, int _nu, int _np, int _ng>

bool gcop::LqCost< T, _nx, _nu, _np, _ng >::Res	(	Vectorgd &	g,
		double	t,
		const T &	x,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p = 0,
		Matrixgxd *	dgdx = 0,
		Matrixgud *	dgdu = 0,
		Matrixgpd *	dgdp = 0
	)		[virtual]

Residual cost

Parameters:

g	residual
t	time
x	state
u	control
h	time-step
p	parameter (optional)
dgdx	derivative wrt x
dgdu	derivative wrt u
dgdp	derivative wrt p

Reimplemented from gcop::LsCost< T, _nx, _nu, _np, _ng, T >.

template<typename T, int _nx, int _nu, int _np, int _ng>

bool gcop::LqCost< T, _nx, _nu, _np, _ng >::SetContext

(

const T &

c

)

[virtual]

Set context for the cost

Parameters:

c

context

Returns:

true if successful

Reimplemented from gcop::Cost< T, _nx, _nu, _np, T >.

template<typename T, int _nx, int _nu, int _np, int _ng>

void gcop::LqCost< T, _nx, _nu, _np, _ng >::SetReference	(	const vector< T > *	xds,
		const vector< Vectorcd > *	uds
	)

Set optional desired reference trajectory and controls

Parameters:

xds	desired state trajectory (optional)
uds	desired control sequence (optional)

template<typename T , int _nx, int _nu, int _np, int _ng>

void gcop::LqCost< T, _nx, _nu, _np, _ng >::UpdateGains

(

)

Updates the square root gains, i.e. sets Qsqrt = Q.sqrt(), etc...

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

---

Member Data Documentation

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

bool gcop::LqCost< T, _nx, _nu, _np, _ng >::diag

are the Q, Qf, and R matrices diagonal (true by default)

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Vectorcd gcop::LqCost< T, _nx, _nu, _np, _ng >::du [protected]

control error

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Vectornd gcop::LqCost< T, _nx, _nu, _np, _ng >::dx [protected]

state error (as a tangent vector)

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixnd gcop::LqCost< T, _nx, _nu, _np, _ng >::Q

state matrix Q

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixnd gcop::LqCost< T, _nx, _nu, _np, _ng >::Qf

final state matrix Qf

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixnd gcop::LqCost< T, _nx, _nu, _np, _ng >::Qfsqrt

final state matrix Qf sqrt

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixnd gcop::LqCost< T, _nx, _nu, _np, _ng >::Qsqrt

state matrix Q sqrt

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixcd gcop::LqCost< T, _nx, _nu, _np, _ng >::R

control matrix R

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

Matrixcd gcop::LqCost< T, _nx, _nu, _np, _ng >::Rsqrt

control matrix R sqrt

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

const vector<Vectorcd>* gcop::LqCost< T, _nx, _nu, _np, _ng >::uds

optional reference control

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

const vector<T>* gcop::LqCost< T, _nx, _nu, _np, _ng >::xds

optional reference trajectory

Referenced by gcop::LqCost< T, _nx, _nu, _np, _ng >::LqCost().

template<typename T, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic>

const T* gcop::LqCost< T, _nx, _nu, _np, _ng >::xf

reference to a desired final state

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

• lib/systems/costs/lqcost.h