#include <lssensorcost.h>

Inheritance diagram for gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >:

Collaboration diagram for gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >:

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, _ng, _nz >	Matrixgzd
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
typedef Matrix< double, _nz, 1 >	Vectorrd
typedef Matrix< double, _nz, _nz >	Matrixrd
typedef Matrix< double, _nz, _nx >	Matrixrnd
typedef Matrix< double, _nz, _nu >	Matrixrcd
typedef Matrix< double, _nz, _np >	Matrixrmd
Public Member Functions
	LsSensorCost (System< T, _nx, _nu, _np > &sys, Manifold< Tz, _nz > &Z, int ng=0)
virtual bool	Res (Vectorgd &g, double t, const Tz &z, const Vectornd &w, const Vectormd &p, double h, Matrixgxd dgdw=0, Matrixgpd dgdp=0, Matrixgzd *dgdz=0)
virtual bool	Resp (Vectormd &gp, const Vectormd &p, Matrixmd *dgdp=0)
Public Attributes
int	ng
	number of residuals per time-step
Vectorgd	g
	residuals per time-step
Vectormd	gp
	residual dependent on parameters

Detailed Description

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
class gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >

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

This defines cost only for a single sensor. Multiple sensors will and multiple systems based cost functions should be adapted somehow

Author1: Marin Kobilarov marin(at)jhu.edu

Author2: Gowtham Garimella ggarime1(at)jhu.edu

Member Typedef Documentation

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

typedef Matrix<double, _nu, _nu> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixcd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nu, _nx> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixcnd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _ng, _np> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixgpd

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _ng, _nu> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixgud

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _ng, _nx> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixgxd

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _ng, _nz> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixgzd

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _np, _np> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixmd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _np, _nx> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixmnd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nx, _nu> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixncd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nx, _nx> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixnd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nx, _np> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixnmd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nz, _nu> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixrcd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nz, _nz> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixrd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nz, _np> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixrmd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nz, _nx> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Matrixrnd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nu, 1> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Vectorcd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _ng, 1> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Vectorgd

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _np, 1> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Vectormd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nx, 1> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Vectornd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

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

typedef Matrix<double, _nz, 1> gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Vectorrd

Reimplemented from gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >.

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

Constructor & Destructor Documentation

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

gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::LsSensorCost	(	System< T, _nx, _nu, _np > &	sys,
		Manifold< Tz, _nz > &	Z,
		int	ng = `0`
	)

create a cost interface for optimal estimation problem

Parameters:

sys	provides the state manifold which is used to perform addition/subtraction of states
sensor	provides the sensor manifold and measurement model for computing the cost
ng	number of residuals per time-step

References gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::g, gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::gp, np, and gcop::System< T, _nx, _nu, _np >::P.

Member Function Documentation

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

bool gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Res	(	Vectorgd &	g,
		double	t,
		const Tz &	z,
		const Vectornd &	w,
		const Vectormd &	p,
		double	h,
		Matrixgxd *	dgdw = `0`,
		Matrixgpd *	dgdp = `0`,
		Matrixgzd *	dgdz = `0`
	)		`[virtual]`

Residual cost with noise as input (For estimation problems) #TODO Modify this to directly accept z sensor estimation instead of x, u

Parameters:

g	residual
t	time
z	sensor measurement
w	noise
h	time-step
p	parameter (optional)
dgdw	derivative wrt w (optional)
dgdp	derivative wrt p (optional)
dgdz	derivative wrt p (optional)

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

bool gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::Resp	(	Vectormd &	gp,
		const Vectormd &	p,
		Matrixmd *	dgdp = `0`
	)		`[virtual]`

Residual Cost independent of time and only dependent on parameters

Parameters:

g	residual for parameters
p	parameter
dgdp	derivative wrt p

Reimplemented in gcop::LqSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, and gcop::LqSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >.

Member Data Documentation

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

Vectorgd gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::g

residuals per time-step

Referenced by gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::LsSensorCost().

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

Vectormd gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::gp

residual dependent on parameters

Referenced by gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::LsSensorCost().

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

int gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >::ng

number of residuals per time-step

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

lib/systems/costs/lssensorcost.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 Tz = VectorXd, int _nz = Dynamic> class gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >

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 Tz = VectorXd, int _nz = Dynamic>
class gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >