Template Class CostModelSumTpl

Defined in File cost-sum.hpp

Class Documentation

template<typename _Scalar> class CostModelSumTpl

Summation of individual cost models.

This class serves to manage a set of added cost models. The cost functions might active or inactive, with this approach we avoid dynamic allocation of memory. Each cost model is added through addCost, where the weight and its status can be defined.

The main computations are carring out in calc() and calcDiff() routines. calc() computes the costs (and its residuals) and calcDiff() computes the derivatives of the cost functions (and its residuals). Concretely speaking, calcDiff() builds a linear-quadratic approximation of the total cost function with the form: \(\mathbf{\ell_x}\in\mathbb{R}^{ndx}\), \(\mathbf{\ell_u}\in\mathbb{R}^{nu}\), \(\mathbf{\ell_{xx}}\in\mathbb{R}^{ndx\times ndx}\), \(\mathbf{\ell_{xu}}\in\mathbb{R}^{ndx\times nu}\), \(\mathbf{\ell_{uu}}\in\mathbb{R}^{nu\times nu}\) are the Jacobians and Hessians, respectively.