#include <ADTest_timeDependent.h>

Inheritance diagram for ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >:

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

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

typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_double_t

Public Types inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

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

typedef Eigen::Matrix< SCALAR_EVAL, STATE_DIM, STATE_DIM >	state_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM >	control_matrix_double_t

typedef Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, STATE_DIM >	control_state_matrix_double_t

Public Member Functions
	TestTerm ()

	TestTerm (const state_matrix_t &Q, const control_matrix_t &R, const SCALAR_EVAL &c)

	TestTerm (const TestTerm &arg)

virtual	~TestTerm ()

TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > *	clone () const override
	Deep-copy term. More...

void	setWeights (const state_matrix_t &Q, const control_matrix_t &R, const double &c)

void	setStateAndControlReference (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x_ref, core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u_ref)

virtual SCALAR	evaluate (const Eigen::Matrix< SCALAR, STATE_DIM, 1 > &x, const Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &u, const SCALAR &t) override
	Evaluates the term at x, u, t. More...

virtual ct::core::ADCGScalar	evaluateCppadCg (const core::StateVector< STATE_DIM, ct::core::ADCGScalar > &x, const core::ControlVector< CONTROL_DIM, ct::core::ADCGScalar > &u, ct::core::ADCGScalar t) override

core::StateVector< STATE_DIM, SCALAR_EVAL >	stateDerivativeAnalytical (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double t)

core::ControlVector< CONTROL_DIM, SCALAR_EVAL >	controlDerivativeAnalytical (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, double t)

state_matrix_t	stateSecondDerivativeAnalytical (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double t)

control_matrix_t	controlSecondDerivativeAnalytical (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, double t)

Public Member Functions inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
	TermBase (std::string name="Unnamed")
	Default constructor. More...

	TermBase (const TermBase &arg)
	Copy Cunstructor. More...

virtual	~TermBase ()
	Destructor. More...

SCALAR_EVAL	eval (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &x, const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &u, const SCALAR_EVAL &t)
	Gets called by the analytical costfunction. Adds time dependent activations on top of the term. More...

virtual bool	isActiveAtTime (SCALAR_EVAL t)
	Returns if term is non-zero at a specific time By default, all terms are evaluated at all times. However, if a term is not active at a certain time, you can overload this function to spare evaluations of the term and its derivatives. More...

SCALAR_EVAL	computeActivation (SCALAR_EVAL t)
	compute time activation More...

virtual core::StateVector< STATE_DIM, SCALAR_EVAL >	stateDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute derivative of this cost term w.r.t. the state More...

virtual state_matrix_t	stateSecondDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute second order derivative of this cost term w.r.t. the state More...

virtual core::ControlVector< CONTROL_DIM, SCALAR_EVAL >	controlDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute derivative of this cost term w.r.t. the control input More...

virtual control_matrix_t	controlSecondDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute second order derivative of this cost term w.r.t. the control input More...

virtual control_state_matrix_t	stateControlDerivative (const core::StateVector< STATE_DIM, SCALAR_EVAL > &x, const core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &u, const SCALAR_EVAL &t)
	compute the cross-term derivative (state-control) of this cost function term More...

virtual void	loadConfigFile (const std::string &filename, const std::string &termName, bool verbose=false)
	load this term from a configuration file More...

void	setTimeActivation (std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL >> c_i, bool verbose=false)
	set the time activation functions for this term More...

void	loadTimeActivation (const std::string &filename, const std::string &termName, bool verbose=false)
	load the time activation functions for this term from file More...

const std::string &	getName () const
	Returns the name of the term. More...

void	setName (const std::string &termName)
	Sets the name of the term. More...

virtual void	updateReferenceState (const Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 > &newRefState)
	updates the reference state for this term More...

virtual void	updateReferenceControl (const Eigen::Matrix< SCALAR_EVAL, CONTROL_DIM, 1 > &newRefControl)
	updates the reference control for this term More...

virtual Eigen::Matrix< SCALAR_EVAL, STATE_DIM, 1 >	getReferenceState () const
	retrieve this term's current reference state More...

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

Protected Member Functions
template<typename SC >
SC	evalLocal (const Eigen::Matrix< SC, STATE_DIM, 1 > &x, const Eigen::Matrix< SC, CONTROL_DIM, 1 > &u, const SC &t)

Protected Attributes
state_matrix_t	Q_

control_matrix_t	R_

SCALAR_EVAL	c_

core::StateVector< STATE_DIM, SCALAR_EVAL >	x_ref_

core::ControlVector< CONTROL_DIM, SCALAR_EVAL >	u_ref_

Protected Attributes inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
std::string	name_
	a name identifier for this term More...

std::shared_ptr< ct::core::tpl::ActivationBase< SCALAR_EVAL > >	c_i_
	time activations for this term More...

Member Typedef Documentation

◆ control_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_t

◆ control_state_matrix_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_t

◆ state_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_double_t

◆ control_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_matrix_double_t

◆ control_state_matrix_double_t

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

typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TestTerm() [1/3]

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

ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TestTerm ( )

Referenced by ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::clone().

◆ TestTerm() [2/3]

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

ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TestTerm	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const SCALAR_EVAL &	c
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ TestTerm() [3/3]

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

ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TestTerm ( const TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR > & arg )

inline

◆ ~TestTerm()

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

virtual ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::~TestTerm ( )

inlinevirtual

Member Function Documentation

◆ clone()

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

TestTerm<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>* ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::clone ( ) const

inlineoverridevirtual

Deep-copy term.

Returns

Implements ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TestTerm().

◆ setWeights()

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

void ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights	(	const state_matrix_t &	Q,
		const control_matrix_t &	R,
		const double &	c
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_, ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

◆ setStateAndControlReference()

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

void ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setStateAndControlReference	(	const core::StateVector< STATE_DIM, SCALAR_EVAL > &	x_ref,
		core::ControlVector< CONTROL_DIM, SCALAR_EVAL > &	u_ref
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

◆ evaluate()

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

virtual SCALAR ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluate	(	const Eigen::Matrix< SCALAR, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< SCALAR, CONTROL_DIM, 1 > &	u,
		const SCALAR &	t
	)

inlineoverridevirtual

Evaluates the term at x, u, t.

Parameters

[in]	x	The current state
[in]	u	The current control
[in]	t	The current time

Returns: The evaluatated cost term

Implements ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >.

References t, u, and x.

◆ evaluateCppadCg()

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

virtual ct::core::ADCGScalar ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evaluateCppadCg	(	const core::StateVector< STATE_DIM, ct::core::ADCGScalar > &	x,
		const core::ControlVector< CONTROL_DIM, ct::core::ADCGScalar > &	u,
		ct::core::ADCGScalar	t
	)

inlineoverridevirtual

References t, u, and x.

◆ stateDerivativeAnalytical()

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

core::StateVector<STATE_DIM, SCALAR_EVAL> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateDerivativeAnalytical	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double	t
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_.

◆ controlDerivativeAnalytical()

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

core::ControlVector<CONTROL_DIM, SCALAR_EVAL> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivativeAnalytical	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		double	t
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

◆ stateSecondDerivativeAnalytical()

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

state_matrix_t ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateSecondDerivativeAnalytical	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double	t
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_.

◆ controlSecondDerivativeAnalytical()

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

control_matrix_t ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlSecondDerivativeAnalytical	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		double	t
	)

inline

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_.

◆ evalLocal()

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

template<typename SC >

SC ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal	(	const Eigen::Matrix< SC, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< SC, CONTROL_DIM, 1 > &	u,
		const SC &	t
	)

inlineprotected

References ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_, ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_, ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_, t, ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_, and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_.

Member Data Documentation

◆ state_matrix_t

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::state_matrix_t

◆ Q_

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

state_matrix_t ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::Q_

protected

Referenced by ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateDerivativeAnalytical(), and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateSecondDerivativeAnalytical().

◆ R_

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

control_matrix_t ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::R_

protected

Referenced by ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivativeAnalytical(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlSecondDerivativeAnalytical(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights().

◆ c_

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

SCALAR_EVAL ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::c_

protected

Referenced by ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlDerivativeAnalytical(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::controlSecondDerivativeAnalytical(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setWeights(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateDerivativeAnalytical(), and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::stateSecondDerivativeAnalytical().

◆ x_ref_

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

core::StateVector<STATE_DIM, SCALAR_EVAL> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::x_ref_

protected

Referenced by ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setStateAndControlReference(), and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TestTerm().

◆ u_ref_

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

core::ControlVector<CONTROL_DIM, SCALAR_EVAL> ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::u_ref_

protected

Referenced by ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::evalLocal(), ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::setStateAndControlReference(), and ct::optcon::example::TestTerm< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >::TestTerm().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/test/costfunction/ADTest_timeDependent.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ control_matrix_t

◆ control_state_matrix_t

◆ state_matrix_double_t

◆ control_matrix_double_t

◆ control_state_matrix_double_t

Constructor & Destructor Documentation

◆ TestTerm() [1/3]

◆ TestTerm() [2/3]

◆ TestTerm() [3/3]

◆ ~TestTerm()

Member Function Documentation

◆ clone()

◆ setWeights()

◆ setStateAndControlReference()

◆ evaluate()

◆ evaluateCppadCg()

◆ stateDerivativeAnalytical()

◆ controlDerivativeAnalytical()

◆ stateSecondDerivativeAnalytical()

◆ controlSecondDerivativeAnalytical()

◆ evalLocal()

Member Data Documentation

◆ state_matrix_t

◆ Q_

◆ R_

◆ c_

◆ x_ref_

◆ u_ref_