cpp_robotics::OCPCostQuadratic

#include <ocp_cost.hpp>

Inherits from cpp_robotics::OCPCost

Public Functions

	Name
	OCPCostQuadratic(OCPDynamics::SharedPtr model, size_t horizon)
	OCPCostQuadratic(size_t nx, size_t nu, size_t horizon)
virtual double	eval(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const size_t i) const override
virtual Eigen::VectorXd	jacobian_x(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const size_t i) const override
virtual Eigen::VectorXd	jacobian_u(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const size_t i) const override
virtual Eigen::MatrixXd	hessian_xx(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const size_t i) const override
virtual Eigen::MatrixXd	hessian_uu(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const size_t i) const override
virtual Eigen::MatrixXd	hessian_ux(const Eigen::VectorXd & x, const Eigen::VectorXd & u, const size_t i) const override
virtual double	eval_terminal(const Eigen::VectorXd & x) const override
virtual Eigen::VectorXd	jacobian_x_terminal(const Eigen::VectorXd & x) const override
virtual Eigen::MatrixXd	hessian_xx_terminal(const Eigen::VectorXd & x) const override

Public Attributes

	Name
Eigen::MatrixXd	Q
Eigen::MatrixXd	R
Eigen::MatrixXd	Qf

Additional inherited members

Public Types inherited from cpp_robotics::OCPCost

	Name
using std::shared_ptr< OCPCost >	SharedPtr

Public Functions inherited from cpp_robotics::OCPCost

	Name
	OCPCost(size_t nx, size_t nu, size_t horizon)
	OCPCost(std::shared_ptr< OCPDynamics > model, size_t horizon)
bool	is_terminal(const size_t i) const
size_t	state_size() const
size_t	input_size() const
size_t	horizon() const

Public Attributes inherited from cpp_robotics::OCPCost

	Name
double	eps

Public Functions Documentation

function OCPCostQuadratic

inline OCPCostQuadratic(
    OCPDynamics::SharedPtr model,
    size_t horizon
)

function OCPCostQuadratic

inline OCPCostQuadratic(
    size_t nx,
    size_t nu,
    size_t horizon
)

function eval

inline virtual double eval(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const size_t i
) const override

Reimplements: cpp_robotics::OCPCost::eval

function jacobian_x

inline virtual Eigen::VectorXd jacobian_x(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const size_t i
) const override

Reimplements: cpp_robotics::OCPCost::jacobian_x

function jacobian_u

inline virtual Eigen::VectorXd jacobian_u(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const size_t i
) const override

Reimplements: cpp_robotics::OCPCost::jacobian_u

function hessian_xx

inline virtual Eigen::MatrixXd hessian_xx(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const size_t i
) const override

Reimplements: cpp_robotics::OCPCost::hessian_xx

function hessian_uu

inline virtual Eigen::MatrixXd hessian_uu(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const size_t i
) const override

Reimplements: cpp_robotics::OCPCost::hessian_uu

function hessian_ux

inline virtual Eigen::MatrixXd hessian_ux(
    const Eigen::VectorXd & x,
    const Eigen::VectorXd & u,
    const size_t i
) const override

Reimplements: cpp_robotics::OCPCost::hessian_ux

function eval_terminal

inline virtual double eval_terminal(
    const Eigen::VectorXd & x
) const override

Reimplements: cpp_robotics::OCPCost::eval_terminal

function jacobian_x_terminal

inline virtual Eigen::VectorXd jacobian_x_terminal(
    const Eigen::VectorXd & x
) const override

Reimplements: cpp_robotics::OCPCost::jacobian_x_terminal

function hessian_xx_terminal

inline virtual Eigen::MatrixXd hessian_xx_terminal(
    const Eigen::VectorXd & x
) const override

Reimplements: cpp_robotics::OCPCost::hessian_xx_terminal

Public Attributes Documentation

variable Q

Eigen::MatrixXd Q;

variable R

Eigen::MatrixXd R;

variable Qf

Eigen::MatrixXd Qf;

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Updated on 2024-05-28 at 06:55:39 +0000