#include <final_state_cost.h>
Public Types | |
using | Ptr = std::shared_ptr< QuadraticFinalStateCost > |
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using | ConstPtr = std::shared_ptr< const BaseQuadraticFinalStateCost > |
using | Ptr = std::shared_ptr< BaseQuadraticFinalStateCost > |
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using | ConstPtr = std::shared_ptr< const FinalStageCost > |
using | Ptr = std::shared_ptr< FinalStageCost > |
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using | ConstPtr = std::shared_ptr< const StageFunction > |
using | Ptr = std::shared_ptr< StageFunction > |
Public Member Functions | |
bool | checkParameters (int state_dim, int control_dim, std::stringstream *issues) const override |
void | computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override |
FinalStageCost::Ptr | getInstance () const override |
Return a newly created shared instance of the implemented class. More... | |
int | getNonIntegralStateTermDimension (int k) const override |
const Eigen::MatrixXd & | getWeightQf () const override |
bool | isLsqFormNonIntegralStateTerm (int k) const override |
QuadraticFinalStateCost () | |
QuadraticFinalStateCost (const Eigen::Ref< const Eigen::MatrixXd > &Qf, bool lsq_form) | |
void | setLsqForm (bool lsq_form) |
bool | setWeightQf (const Eigen::Ref< const Eigen::MatrixXd > &Qf) |
bool | setWeightQf (const Eigen::DiagonalMatrix< double, -1 > &Qf) |
bool | update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface *sref, bool single_dt, const Eigen::VectorXd &x0, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface *grid) override |
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bool | hasIntegralTerms (int k) const final |
bool | hasNonIntegralTerms (int k) const final |
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virtual void | computeConcatenatedNonIntegralStateControlTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const |
virtual void | computeConcatenatedNonIntegralStateTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const |
virtual void | computeNonIntegralStateDtTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost) const |
computeNonIntegralStateDtTerm: warning: currently only supported for full discretization More... | |
virtual int | getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const |
virtual int | getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const |
virtual int | getNonIntegralStateDtTermDimension (int k) const |
virtual bool | isLinearNonIntegralControlTerm (int k) const |
virtual bool | isLinearNonIntegralDtTerm (int k) const |
virtual bool | isLinearNonIntegralStateTerm (int k) const |
virtual bool | isLsqFormNonIntegralControlTerm (int k) const |
virtual bool | isLsqFormNonIntegralDtTerm (int k) const |
virtual | ~StageFunction ()=default |
Default destructor. More... | |
Protected Attributes | |
bool | _diagonal_mode = false |
bool | _diagonal_mode_intentionally = false |
bool | _lsq_form = true |
Eigen::MatrixXd | _Qf |
Eigen::DiagonalMatrix< double, -1 > | _Qf_diag |
Eigen::DiagonalMatrix< double, -1 > | _Qf_diag_sqrt |
Eigen::MatrixXd | _Qf_sqrt |
const ReferenceTrajectoryInterface * | _x_ref = nullptr |
bool | _zero_x_ref = false |
Definition at line 47 of file final_state_cost.h.
using corbo::QuadraticFinalStateCost::Ptr = std::shared_ptr<QuadraticFinalStateCost> |
Definition at line 50 of file final_state_cost.h.
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inline |
Definition at line 52 of file final_state_cost.h.
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inline |
Definition at line 54 of file final_state_cost.h.
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overridevirtual |
Reimplemented from corbo::StageFunction.
Definition at line 114 of file final_state_cost.cpp.
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overridevirtual |
Implements corbo::FinalStageCost.
Definition at line 72 of file final_state_cost.cpp.
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inlineoverridevirtual |
Return a newly created shared instance of the implemented class.
Implements corbo::FinalStageCost.
Definition at line 56 of file final_state_cost.h.
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inlineoverridevirtual |
Implements corbo::FinalStageCost.
Definition at line 58 of file final_state_cost.h.
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inlineoverridevirtual |
Implements corbo::BaseQuadraticFinalStateCost.
Definition at line 64 of file final_state_cost.h.
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inlineoverridevirtual |
Reimplemented from corbo::StageFunction.
Definition at line 59 of file final_state_cost.h.
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inline |
Definition at line 66 of file final_state_cost.h.
bool corbo::QuadraticFinalStateCost::setWeightQf | ( | const Eigen::Ref< const Eigen::MatrixXd > & | Qf | ) |
Definition at line 39 of file final_state_cost.cpp.
bool corbo::QuadraticFinalStateCost::setWeightQf | ( | const Eigen::DiagonalMatrix< double, -1 > & | Qf | ) |
Definition at line 62 of file final_state_cost.cpp.
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inlineoverridevirtual |
Reimplemented from corbo::StageFunction.
Definition at line 70 of file final_state_cost.h.
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protected |
Definition at line 94 of file final_state_cost.h.
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Definition at line 95 of file final_state_cost.h.
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Definition at line 96 of file final_state_cost.h.
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Definition at line 91 of file final_state_cost.h.
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Definition at line 93 of file final_state_cost.h.
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Definition at line 92 of file final_state_cost.h.
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Definition at line 90 of file final_state_cost.h.
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Definition at line 98 of file final_state_cost.h.
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Definition at line 99 of file final_state_cost.h.