A simple quadratic cost function. More...

#include <CostFunctionQuadraticSimple.hpp>

Inheritance diagram for ct::optcon::CostFunctionQuadraticSimple< 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
	CostFunctionQuadraticSimple ()

	CostFunctionQuadraticSimple (const state_matrix_t &Q, const control_matrix_t &R, const state_vector_t &x_nominal, const control_vector_t &u_nominal, const state_vector_t &x_final, const state_matrix_t &Q_final)

virtual	~CostFunctionQuadraticSimple ()

	CostFunctionQuadraticSimple (const CostFunctionQuadraticSimple &arg)

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

virtual void	setCurrentStateAndControl (const state_vector_t &x, const control_vector_t &u, const SCALAR &t) override

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

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

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

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

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

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

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

virtual state_vector_t	stateDerivativeTerminal () override

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

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

virtual void	updateFinalState (const state_vector_t &x_final) override
	update the reference state for final cost terms 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	loadFromConfigFile (const std::string &filename, bool verbose=false)
	Loads cost function from config file. More...

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

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

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

Protected Attributes
state_vector_t	x_deviation_

state_vector_t	x_nominal_

state_matrix_t	Q_

control_vector_t	u_deviation_

control_vector_t	u_nominal_

control_matrix_t	R_

state_vector_t	x_final_

state_matrix_t	Q_final_

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_

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...

Detailed Description

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

A simple quadratic cost function.

A simple, purely-quadratic cost function of the form $J(x,u,t) = \bar{x}^T Q \bar{x} + \bar{u}^T R \bar{u} + \bar{x}^T_f Q_f \bar{x}^T_f$ where $\bar{x}, \bar{u}$ indicate deviations from a nominal (desired) state and control

Examples:: oscDMSTest.cpp, oscDMSTestAllVariants.cpp, switched_continuous_optcon.cpp, and SymplecticTest.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::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

Constructor & Destructor Documentation

◆ CostFunctionQuadraticSimple() [1/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

Constructs a simple, purely quadratic cost function with all zero elements.

◆ CostFunctionQuadraticSimple() [2/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionQuadraticSimple	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const state_vector_t &	x_nominal,
		const control_vector_t &	u_nominal,
		const state_vector_t &	x_final,
		const state_matrix_t &	Q_final
	)

Constructs a simple, purely quadratic cost function

Parameters

Q	intermediate state cost weighting
R	intermediate control cost weighting
x_nominal	nominal (desired) state
u_nominal	nominal (desired) control
x_final	nominal (desired) final state
Q_final	final state cost weighting

References ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_deviation_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_deviation_.

◆ ~CostFunctionQuadraticSimple()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

virtual

◆ CostFunctionQuadraticSimple() [3/3]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

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

overridevirtual

Clones the cost function.

Returns

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

◆ setCurrentStateAndControl()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>

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

overridevirtual

References t, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::t_, u, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::u_, ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_deviation_, ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_nominal_, x, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_, ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_deviation_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_nominal_.

◆ evaluateIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

SCALAR ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_, ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::R_, ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_deviation_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_deviation_.

◆ stateDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_deviation_.

◆ stateSecondDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_.

◆ controlDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::R_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_deviation_.

◆ controlSecondDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::control_matrix_t ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::R_.

◆ stateControlDerivativeIntermediate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::control_state_matrix_t ct::optcon::CostFunctionQuadraticSimple< 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 >.

◆ evaluateTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

SCALAR ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_final_, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_final_.

◆ stateDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_final_, ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >::x_, and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_final_.

◆ stateSecondDerivativeTerminal()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t ct::optcon::CostFunctionQuadraticSimple< 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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_final_.

◆ updateReferenceState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::updateReferenceState ( const state_vector_t & x_ref )

overridevirtual

update the reference state for intermediate cost terms

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

References ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_nominal_.

◆ updateFinalState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::updateFinalState ( const state_vector_t & x_final )

overridevirtual

update the reference state for final cost terms

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

References ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_final_.

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::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::state_matrix_t

◆ x_deviation_

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

state_vector_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_deviation_

protected

Referenced by ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionQuadraticSimple(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl(), and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediate().

◆ x_nominal_

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

state_vector_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_nominal_

protected

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

◆ Q_

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

state_matrix_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_

protected

Referenced by ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeIntermediate(), and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeIntermediate().

◆ u_deviation_

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

control_vector_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_deviation_

protected

Referenced by ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediate(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::CostFunctionQuadraticSimple(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate(), and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::setCurrentStateAndControl().

◆ u_nominal_

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

control_vector_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::u_nominal_

protected

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

◆ R_

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

control_matrix_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::R_

protected

Referenced by ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::controlDerivativeIntermediate(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::controlSecondDerivativeIntermediate(), and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateIntermediate().

◆ x_final_

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

state_vector_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::x_final_

protected

Referenced by ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal(), and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::updateFinalState().

◆ Q_final_

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

state_matrix_t ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::Q_final_

protected

Referenced by ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::evaluateTerminal(), ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateDerivativeTerminal(), and ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >::stateSecondDerivativeTerminal().

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

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_vector_t

◆ control_vector_t

Constructor & Destructor Documentation

◆ CostFunctionQuadraticSimple() [1/3]

◆ CostFunctionQuadraticSimple() [2/3]

◆ ~CostFunctionQuadraticSimple()

◆ CostFunctionQuadraticSimple() [3/3]

Member Function Documentation

◆ clone()

◆ setCurrentStateAndControl()

◆ evaluateIntermediate()

◆ stateDerivativeIntermediate()

◆ stateSecondDerivativeIntermediate()

◆ controlDerivativeIntermediate()

◆ controlSecondDerivativeIntermediate()

◆ stateControlDerivativeIntermediate()

◆ evaluateTerminal()

◆ stateDerivativeTerminal()

◆ stateSecondDerivativeTerminal()

◆ updateReferenceState()

◆ updateFinalState()

Member Data Documentation

◆ state_matrix_t

◆ x_deviation_

◆ x_nominal_

◆ Q_

◆ u_deviation_

◆ u_nominal_

◆ R_

◆ x_final_

◆ Q_final_

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