- 3.0.2 optimal control module.
Classes
CostFunction

Cost Function Module used in Optimal Control. More...

Classes

class  ct::optcon::CostFunction< STATE_DIM, CONTROL_DIM, SCALAR >
 A base function for cost functions. All cost functions should derive from this. More...
 
class  ct::optcon::CostFunctionAnalytical< STATE_DIM, CONTROL_DIM, SCALAR >
 A cost function which contains only terms that have analytical derivatives. More...
 
class  ct::optcon::CostFunctionQuadratic< STATE_DIM, CONTROL_DIM, SCALAR >
 Describes a cost function with a quadratic approximation, i.e. one that can compute first and second order derivatives with respect to state and control input. This does NOT mean it has to be a purely quadratic cost function. If you are looking for a purely quadratic cost function, check CostFunctionQuadraticSimple. More...
 
class  ct::optcon::CostFunctionQuadraticSimple< STATE_DIM, CONTROL_DIM, SCALAR >
 A simple quadratic cost function. More...
 
class  ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 An interface for a term, supporting both analytical and auto-diff terms. More...
 
class  ct::optcon::TermLinear< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A linear term of type $ J = a x + b u + c $. More...
 
class  ct::optcon::TermMixed< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A basic quadratic term of type $ J = u^T P x $. More...
 
class  ct::optcon::TermQuadMult< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A multiplicative term of type $ J = (x^T Q x) (u^T R u) $. More...
 
class  ct::optcon::TermQuadratic< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A basic quadratic term of type $ J = x^T Q x + u^T R u $. More...
 
class  ct::optcon::TermQuadTracking< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A quadratic tracking term of type $ J(t) = (x_{ref}(t) - x)^T Q (x_{ref}(t) - x) + (u_{ref}(t) - u)^T R (u_{ref}(t) - u) $. More...
 
class  ct::optcon::TermSmoothAbs< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A smooth absolute term of type $ J = a sqrt((x-x_ref)^2 + alpha^2) + b sqrt((u-u_ref)^2 + alpha^2) $ where this calculation is performed component-wise and summed with individual weighting factors a[i], b[i]. More...
 
class  ct::optcon::TermStateBarrier< STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR >
 A state barrier term (could also be considered a soft constraint) Note that this term explicitly excludes controls, as there are better ways to limit control effort in a "soft" way, e.g. through the use of sigmoid functions. More...
 

Detailed Description

Cost Function Module used in Optimal Control.