A cost function which contains only terms that have analytical derivatives. More...

#include <CostFunctionAnalytical.hpp>

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

Public Types
typedef Eigen::Matrix< SCALAR, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Types inherited from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >
typedef Eigen::Matrix< SCALAR, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< SCALAR, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

typedef CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >	BASE

Public Types inherited from ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >
typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

Public Member Functions
	CostFunctionAnalytical ()
	Basic constructor. More...

	CostFunctionAnalytical (const CostFunctionAnalytical &arg)
	Copy constructor. More...

	CostFunctionAnalytical (const std::string &filename, bool verbose=false)
	Constructor loading function from file. More...

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const override

	~CostFunctionAnalytical ()

SCALAR	evaluateIntermediate () override
	evaluate intermediate costs More...

SCALAR	evaluateTerminal () override
	evaluate terminal costs More...

state_vector_t	stateDerivativeIntermediate () override
	Computes intermediate-cost first-order derivative with respect to state. More...

state_vector_t	stateDerivativeTerminal () override

state_matrix_t	stateSecondDerivativeIntermediate () override
	Computes intermediate-cost second-order derivative with respect to state. More...

state_matrix_t	stateSecondDerivativeTerminal () override
	Computes final-cost second-order derivative with respect to state. More...

control_vector_t	controlDerivativeIntermediate () override
	Computes intermediate-cost first-order derivative with respect to control. More...

control_vector_t	controlDerivativeTerminal () override
	Computes terminal-cost first-order derivative with respect to control. More...

control_matrix_t	controlSecondDerivativeIntermediate () override
	Computes intermediate-cost second-order derivative with respect to input. More...

control_matrix_t	controlSecondDerivativeTerminal () override
	Computes final-cost second-order derivative with respect to input. More...

control_state_matrix_t	stateControlDerivativeIntermediate () override
	Computes intermediate-cost derivative with respect to state and control. More...

control_state_matrix_t	stateControlDerivativeTerminal () override
	Computes final-cost derivative with respect to state and control. More...

void	loadFromConfigFile (const std::string &filename, bool verbose=false) override
	Loads cost function from config file. More...

Public Member Functions inherited from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >
	CostFunctionQuadratic ()

	CostFunctionQuadratic (const CostFunctionQuadratic &arg)

virtual	~CostFunctionQuadratic ()

virtual size_t	addIntermediateTerm (std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR >> term, bool verbose=false)
	Adds an intermediate term. More...

virtual size_t	addFinalTerm (std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR >> term, bool verbose=false)
	Adds a final term. More...

virtual void	updateReferenceState (const state_vector_t &x_ref)
	update the reference state for intermediate cost terms More...

virtual void	updateFinalState (const state_vector_t &x_final)
	update the reference state for final cost terms More...

virtual void	updateReferenceControl (const control_vector_t &u_ref)
	update the reference control for intermediate cost terms More...

bool	stateDerivativeIntermediateTest (bool verbose=false)
	compare the state derivative against numerical differentiation More...

bool	controlDerivativeIntermediateTest (bool verbose=false)
	compare the control derivative against numerical differentiation More...

std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR > >	getIntermediateTermById (const size_t id)

std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR > >	getFinalTermById (const size_t id)

std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR > >	getIntermediateTermByName (const std::string &name)

std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR > >	getFinalTermByName (const std::string &name)

virtual void	initialize ()
	initialize the cost function (e.g. to be used in CostFunctionAD) More...

Public Member Functions inherited from ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >
	CostFunction ()
	Default constructor. More...

virtual	~CostFunction ()
	Destructor. More...

	CostFunction (const CostFunction &arg)
	Copy constructor. More...

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 void	shiftTime (const SCALAR t)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM >	state_matrix_t

Public Attributes inherited from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix< SCALAR, STATE_DIM, STATE_DIM >	state_matrix_t

Public Attributes inherited from ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

Additional Inherited Members
Protected Member Functions inherited from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >
SCALAR	evaluateIntermediateBase ()
	evaluate intermediate analytical cost terms More...

SCALAR	evaluateTerminalBase ()
	evaluate terminal analytical cost terms More...

state_vector_t	stateDerivativeIntermediateBase ()
	evaluate intermediate analytical state derivatives More...

state_vector_t	stateDerivativeTerminalBase ()
	evaluate terminal analytical state derivatives More...

state_matrix_t	stateSecondDerivativeIntermediateBase ()
	evaluate intermediate analytical state second derivatives More...

state_matrix_t	stateSecondDerivativeTerminalBase ()
	evaluate terminal analytical state second derivatives More...

control_vector_t	controlDerivativeIntermediateBase ()
	evaluate intermediate analytical control derivatives More...

control_vector_t	controlDerivativeTerminalBase ()
	evaluate terminal analytical control derivatives More...

control_matrix_t	controlSecondDerivativeIntermediateBase ()
	evaluate intermediate analytical control second derivatives More...

control_matrix_t	controlSecondDerivativeTerminalBase ()
	evaluate terminal analytical control second derivatives More...

control_state_matrix_t	stateControlDerivativeIntermediateBase ()
	evaluate intermediate analytical control mixed state control derivatives More...

control_state_matrix_t	stateControlDerivativeTerminalBase ()
	evaluate terminal analytical control mixed state control derivatives More...

state_vector_t	stateDerivativeIntermediateNumDiff ()
	compute the state derivative by numerical differentiation (can be used for testing) More...

control_vector_t	controlDerivativeIntermediateNumDiff ()
	compute the control derivative by numerical differentiation (can be used for testing) More...

Protected Attributes inherited from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >
SCALAR	eps_
	stepsize for numerical differentiation More...

bool	doubleSidedDerivative_ = true
	use double sided derivatives in numerical differentiation More...

std::vector< std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR > > >	intermediateCostAnalytical_

std::vector< std::shared_ptr< TermBase< STATE_DIM, CONTROL_DIM, SCALAR > > >	finalCostAnalytical_

Protected Attributes inherited from ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >
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::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >

A cost function which contains only terms that have analytical derivatives.

This class provides functions to evaluate a cost function and computes its first and second order derivatives. This cost function assumes that analytical derivatives for all terms are available.

Examples:: DMS.cpp, NLOC.cpp, NLOC_boxConstrained.cpp, NLOC_generalConstrained.cpp, NLOC_MPC.cpp, and NonlinearSystemTest.h.

Member Typedef Documentation

◆ control_matrix_t

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

typedef Eigen::Matrix<SCALAR, CONTROL_DIM, CONTROL_DIM> ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t

◆ control_state_matrix_t

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

typedef Eigen::Matrix<SCALAR, CONTROL_DIM, STATE_DIM> ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_state_matrix_t

◆ state_vector_t

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

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

◆ control_vector_t

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

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

Constructor & Destructor Documentation

◆ CostFunctionAnalytical() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionAnalytical ( )

Basic constructor.

Referenced by ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::clone().

◆ CostFunctionAnalytical() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionAnalytical ( const CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR > & arg )

Copy constructor.

Parameters

arg	cost function to copy

◆ CostFunctionAnalytical() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionAnalytical	(	const std::string &	filename,
		bool	verbose = `false`
	)

Constructor loading function from file.

Parameters

filename	config file location
verbose	flag enabling printouts

References ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::loadFromConfigFile().

◆ ~CostFunctionAnalytical()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

Destructor

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

Deep-cloning of cost function

Returns: base pointer to clone

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionAnalytical().

◆ evaluateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

evaluate intermediate costs

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

Returns: costs

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

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediateBase().

◆ evaluateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

evaluate terminal costs

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

Returns: costs

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

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminalBase().

◆ stateDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediate ( )

overridevirtual

Computes intermediate-cost first-order derivative with respect to state.

Returns: derivative vector (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediateBase().

Referenced by ct::optcon::example::TEST().

◆ stateDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal ( )

overridevirtual

Computes terminal-cost first-order derivative with respect to state

Returns: derivative vector (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminalBase().

Referenced by ct::optcon::example::TEST().

◆ stateSecondDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediate ( )

overridevirtual

Computes intermediate-cost second-order derivative with respect to state.

Returns: derivative matrix (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediateBase().

Referenced by ct::optcon::example::TEST().

◆ stateSecondDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminal ( )

overridevirtual

Computes final-cost second-order derivative with respect to state.

Returns: derivative matrix (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminalBase().

Referenced by ct::optcon::example::TEST().

◆ controlDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediate ( )

overridevirtual

Computes intermediate-cost first-order derivative with respect to control.

Returns: derivative vector (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediateBase().

Referenced by ct::optcon::example::TEST().

◆ controlDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminal ( )

overridevirtual

Computes terminal-cost first-order derivative with respect to control.

Not available for all cost functions. Throws an exception if not available.

Returns: derivative vector (Jacobian)

Reimplemented from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeTerminalBase().

◆ controlSecondDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediate ( )

overridevirtual

Computes intermediate-cost second-order derivative with respect to input.

Returns: derivative matrix (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediateBase().

Referenced by ct::optcon::example::TEST().

◆ controlSecondDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminal ( )

overridevirtual

Computes final-cost second-order derivative with respect to input.

Not available for all cost functions. Throws an exception if not available.

Returns: derivative matrix (Jacobian)

Reimplemented from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeTerminalBase().

◆ stateControlDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_state_matrix_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediate ( )

overridevirtual

Computes intermediate-cost derivative with respect to state and control.

Returns: derivative matrix (Jacobian)

Implements ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeIntermediateBase().

◆ stateControlDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::control_state_matrix_t ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminal ( )

overridevirtual

Computes final-cost derivative with respect to state and control.

Returns: derivative matrix (Jacobian)

Reimplemented from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::stateControlDerivativeTerminalBase().

◆ loadFromConfigFile()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::loadFromConfigFile	(	const std::string &	filename,
		bool	verbose = `false`
	)

overridevirtual

Loads cost function from config file.

Parameters

filename	config file location
verbose	verbosity flag which enables printout

Reimplemented from ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >.

References ct::optcon::addTerm(), CT_LOADABLE_TERMS, ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::finalCostAnalytical_, i, and ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >::intermediateCostAnalytical_.

Referenced by ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionAnalytical().

Member Data Documentation

◆ state_matrix_t

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<SCALAR, STATE_DIM, STATE_DIM> ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

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

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_vector_t

◆ control_vector_t

Constructor & Destructor Documentation

◆ CostFunctionAnalytical() [1/3]

◆ CostFunctionAnalytical() [2/3]

◆ CostFunctionAnalytical() [3/3]

◆ ~CostFunctionAnalytical()

Member Function Documentation

◆ clone()

◆ evaluateIntermediate()

◆ evaluateTerminal()

◆ stateDerivativeIntermediate()

◆ stateDerivativeTerminal()

◆ stateSecondDerivativeIntermediate()

◆ stateSecondDerivativeTerminal()

◆ controlDerivativeIntermediate()

◆ controlDerivativeTerminal()

◆ controlSecondDerivativeIntermediate()

◆ controlSecondDerivativeTerminal()

◆ stateControlDerivativeIntermediate()

◆ stateControlDerivativeTerminal()

◆ loadFromConfigFile()

Member Data Documentation

◆ state_matrix_t

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