#include <lscost.h>

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

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

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
	LsCost (System< T, _nx, _nu, _np > &sys, double tf, int ng=0)
virtual 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)
Public Attributes
int	ng
	number of residuals per time-step
Vectorgd	g
	residuals per time-step

Detailed Description

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

Cost interface for optimal control on manifolds. Defines a cost function and means to compute difference between two states on a manifold.

Subclasses should provide implementation of either a regular const function L or a parameter-dependent cost function Lp (e.g. for sys id / adaptive control / optimal design problems)

Author: Marin Kobilarov marin(at)jhu.edu

Member Typedef Documentation

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, gcop::LqCost< Matrix4d, 6, _nu >, and gcop::Body2dCost< c >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

Reimplemented in gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

Reimplemented in gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

Reimplemented in gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, gcop::LqCost< Matrix4d, 6, _nu >, and gcop::Body2dCost< c >.

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

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

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

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

Reimplemented in gcop::ConstraintCost< T, _nx, _nu, _np, _ng >, gcop::ConstraintCost< T, _nx, _nu, _np, 1 >, gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::PqpDemCost< T, _nx, _nu, _np >, gcop::LqCost< M3V2d, 5, 2 >, gcop::LqCost< MbsState< nb >, MBS_DIM(nb), c >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >, and gcop::LqCost< Matrix4d, 6, _nu >.

Constructor & Destructor Documentation

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

gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >::LsCost	(	System< T, _nx, _nu, _np > &	sys,
		double	tf,
		int	ng = `0`
	)

_nureate a _nuost interfacex

Parameters:

X	the state manifold which is used to perform addition/subtraction of states
tf	time horizon: when the cost function L is called it will internally check whether its argument t is equation to tf and return the terminal cost
ng	number of residuals per time-step

References gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >::g.

Member Function Documentation

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

bool gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >::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 in gcop::LqCost< T, _nx, _nu, _np, _ng >, gcop::LqCost< Body2dState, 6, c, Dynamic, 9 >, gcop::LqCost< Body3dState, 12, c, Dynamic, 6 >, gcop::LqCost< M3V2d, 5, 2, Dynamic, 7 >, and gcop::LqCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng >.

Member Data Documentation

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

Vectorgd gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >::g

residuals per time-step

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

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

int gcop::LsCost< T, _nx, _nu, _np, _ng, Tc >::ng

number of residuals per time-step

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

lib/systems/costs/lscost.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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