11 template <
size_t STATE_DIM,
size_t CONTROL_DIM,
typename SCALAR>
18 template <
size_t STATE_DIM,
size_t CONTROL_DIM,
typename SCALAR>
23 template <
size_t STATE_DIM,
size_t CONTROL_DIM,
typename SCALAR>
29 template <
size_t STATE_DIM,
size_t CONTROL_DIM,
typename SCALAR>
39 template <
size_t STATE_DIM,
size_t CONTROL_DIM,
typename SCALAR>
41 Eigen::Matrix<SCALAR, CONTROL_DIM, 1>&
u,
49 template <
size_t STATE_DIM,
size_t CONTROL_DIM,
typename SCALAR>
state_vector_t x_
Definition: CostFunction.hpp:103
A base function for cost functions. All cost functions should derive from this.
Definition: CostFunction.hpp:25
virtual void setCurrentStateAndControl(const state_vector_t &x, const control_vector_t &u, const SCALAR &t=SCALAR(0.0))
Definition: CostFunction-impl.hpp:30
ct::core::ControlVector< control_dim > u
Definition: LoadFromFileTest.cpp:21
virtual ~CostFunction()
Destructor.
Definition: CostFunction-impl.hpp:19
SCALAR t_
Definition: CostFunction.hpp:105
clear all close all load ct GNMSLog0 mat reformat t
Definition: gnmsPlot.m:6
CppAD::AD< CppAD::cg::CG< double > > SCALAR
ct::core::StateVector< state_dim > x
Definition: LoadFromFileTest.cpp:20
control_vector_t u_
Definition: CostFunction.hpp:104
virtual void shiftTime(const SCALAR t)
Definition: CostFunction-impl.hpp:50
CostFunction()
Default constructor.
Definition: CostFunction-impl.hpp:12
Eigen::Matrix< double, nStates, 1 > state_vector_t
virtual void getCurrentStateAndControl(Eigen::Matrix< SCALAR, STATE_DIM, 1 > &x, Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &u, SCALAR &t) const
sets current state, control and time
Definition: CostFunction-impl.hpp:40
SCALAR t_shift_
Definition: CostFunction.hpp:107