ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR > Class Template Reference

A base function for cost functions. All cost functions should derive from this. More...

#include <CostFunction.hpp>

Inheritance diagram for ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Member Functions
	CostFunction ()
	Default constructor. More...
virtual	~CostFunction ()
	Destructor. More...
	CostFunction (const CostFunction &arg)
	Copy constructor. More...
virtual CostFunction< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const =0
virtual void	setCurrentStateAndControl (const state_vector_t &x, const control_vector_t &u, const SCALAR &t=SCALAR(0.0))
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 More...
virtual SCALAR	evaluateIntermediate ()=0
	evaluate intermediate costs More...
virtual SCALAR	evaluateTerminal ()=0
	evaluate terminal costs More...
virtual void	shiftTime (const SCALAR t)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Protected Attributes
state_vector_t	x_
control_vector_t	u_
SCALAR	t_
SCALAR	t_shift_

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >

A base function for cost functions. All cost functions should derive from this.

Member Typedef Documentation

control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

Constructor & Destructor Documentation

CostFunction() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunction

(

)

Default constructor.

Default constructor, sets state, control and time to zero

References ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

~CostFunction()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::~CostFunction ( )

virtual

Destructor.

Destructor

CostFunction() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunction

(

const CostFunction< STATE_DIM, CONTROL_DIM, SCALAR > &

arg

)

Copy constructor.

Parameters

arg	other cost function

Member Function Documentation

clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual CostFunction<STATE_DIM, CONTROL_DIM, SCALAR>* ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

pure virtual

Clones the cost function.

Returns

Base pointer to the clone

Implemented in ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

setCurrentStateAndControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl ( const state_vector_t &  x, const control_vector_t &  u, const SCALAR &  t = SCALAR(0.0)  )

virtual

Set the current state, control and time of the cost function. In this function, the user can add pre-computations shared between different calls to the derivative functions.

Parameters

x	state vector
u	control vector
t	time

References ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_shift_, u, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::u_, x, and ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

Referenced by ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateNumDiff(), ct::optcon::LQOCProblem< STATE_DIM, CONTROL_DIM, SCALAR >::setFromTimeInvariantLinearQuadraticProblem(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateNumDiff(), and ct::optcon::example::TEST().

getCurrentStateAndControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::getCurrentStateAndControl ( Eigen::Matrix< SCALAR, STATE_DIM, 1 > &  x, Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &  u, SCALAR &  t  ) const

virtual

sets current state, control and time

Get the current state, control and time of the cost function. In this function, the user can add pre-computations shared between different calls to the derivative functions.

Parameters

x	state vector
u	control vector
t	time

References ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::u_, and ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_.

Referenced by ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateNumDiff(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateNumDiff().

evaluateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual SCALAR ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate ( )

pure virtual

evaluate intermediate costs

Evaluates the running/intermediate cost function for the control, state and time set in setCurrentStateAndControl()

Returns

costs

Implemented in ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::example::compareCostFunctionOutput(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateNumDiff(), ct::optcon::example::printCostFunctionOutput(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateNumDiff().

evaluateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual SCALAR ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal ( )

pure virtual

evaluate terminal costs

Evaluates the terminal cost for a given state and control set in setCurrentStateAndControl(). This usually ignores time.

Returns

costs

Implemented in ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >.

Referenced by ct::optcon::example::compareCostFunctionOutput(), and ct::optcon::example::printCostFunctionOutput().

shiftTime()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::shiftTime ( const SCALAR  t )

virtual

References t, and ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_shift_.

Member Data Documentation

state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector<STATE_DIM, SCALAR> ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

x_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

state_vector_t ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_

protected

Referenced by ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminalBase(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunction(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediateBase(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminalBase(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::getCurrentStateAndControl(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediateBase(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminalBase().

u_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

control_vector_t ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::u_

protected

state vector

Referenced by ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminalBase(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunction(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminalBase(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::getCurrentStateAndControl(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediateBase(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminalBase().

t_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

SCALAR ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_

protected

control vector

Referenced by ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminalBase(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::getCurrentStateAndControl(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminalBase(), ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediateBase(), and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminalBase().

t_shift_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

SCALAR ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_shift_

protected

time

Referenced by ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), and ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::shiftTime().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/costfunction/CostFunction.hpp
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/costfunction/CostFunction-impl.hpp