#include <sensorcost.h>

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

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

Public Types
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
	SensorCost (System< T, _nx, _nu, _np > &sys, Manifold< Tz, _nz > &Z)
virtual double	L (double t, const Tz &z, const Vectornd &w, const Vectormd &p, double h, Vectornd Lw=0, Matrixnd Lww=0, Vectormd Lp=0, Matrixmd Lpp=0, Vectorrd Lz=0, Matrixrd Lzz=0, Matrixmnd Lpw=0, Matrixrnd Lzw=0, Matrixrmd *Lzp=0)
virtual double	Lp (const Vectormd &p, Vectormd Lp=0, Matrixmd Lpp=0)
Public Attributes
System< T, _nx, _nu, _np > &	sys
	system
Manifold< Tz, _nz > &	Z
	system

Detailed Description

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

Cost interface for optimal control on sensor manifold. (Estimation Problems) 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz = VectorXd, int _nz = Dynamic>

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

Reimplemented in gcop::LsSensorCost< T, _nx, _nu, _np, _ng, Tz, _nz >, gcop::LsSensorCost< Matrix< double, _nx, 1 >, _nx, _nu, _np, _ng, Matrix< double, _nz, 1 >, _nz >, 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, typename Tz, int _nz>

gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >::SensorCost	(	System< T, _nx, _nu, _np > &	sys,
		Manifold< Tz, _nz > &	Z
	)

create a cost interface

Parameters:

sys	provides the system manifold X for performing addition and substraction of states
Z	provides sensor manifold for performing addition and substraction of measurements

Member Function Documentation

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

double gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >::L	(	double	t,
		const Tz &	z,
		const Vectornd &	w,
		const Vectormd &	p,
		double	h,
		Vectornd *	Lw = `0`,
		Matrixnd *	Lww = `0`,
		Vectormd *	Lp = `0`,
		Matrixmd *	Lpp = `0`,
		Vectorrd *	Lz = `0`,
		Matrixrd *	Lzz = `0`,
		Matrixmnd *	Lpw = `0`,
		Matrixrnd *	Lzw = `0`,
		Matrixrmd *	Lzp = `0`
	)		`[virtual]`

Time dependent Cost function L_i with noise as a part of cost function (Optimal Estimation)

Parameters:

t	time
z	sensor measurement
w	noise
h	time-step
Lw	derivative wrt w
Lp	derivative wrt p
Lz	derivative wrt z
Lpp	derivative wrt p,p
Lww	derivative wrt w,w
Lzz	derivative wrt z,z
Lpw	derivative wrt p,w
Lzw	derivative wrt z,w
Lzp	derivative wrt z,p

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

double gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >::Lp	(	const Vectormd &	p,
		Vectormd *	Lp = `0`,
		Matrixmd *	Lpp = `0`
	)		`[virtual]`

Part of cost function which is independent of time and only dependent on parameters The net cost for a trajectory is sum i:1->N [L_i] + Lp

Parameters:

p	parameters
Lp	derivative wrt p
Lpp	derivative wrt p,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, typename Tz = VectorXd, int _nz = Dynamic>

System<T, _nx, _nu, _np>& gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >::sys

system

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

Manifold<Tz, _nz>& gcop::SensorCost< T, _nx, _nu, _np, Tz, _nz >::Z

system

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

lib/systems/costs/sensorcost.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

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