MinimumEnergyCostBolza.hpp

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#ifndef MINIMUMENERGYCOSTBOLZA_HPP_
#define MINIMUMENERGYCOSTBOLZA_HPP_

#include <optimization/costs/CostFunctionBolza.hpp>

namespace DirectTrajectoryOptimization {
namespace Costs {

template<class DIMENSIONS>
class MinimumEnergyCostBolza : public BaseClass::CostFunctionBolza<DIMENSIONS> {

public :

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::control_vector_t control_vector_t;
    typedef typename DIMENSIONS::control_matrix_t control_matrix_t;

    MinimumEnergyCostBolza(const control_matrix_t & R = control_matrix_t::Identity()):R_matrix(R)
    { }

    virtual ~MinimumEnergyCostBolza() {}

private :

    double phi(const state_vector_t & x, const control_vector_t & u);
    state_vector_t phi_x(const state_vector_t &x, const control_vector_t & u);
    control_vector_t phi_u(const state_vector_t &x, const control_vector_t & u);

    double terminalCost(const state_vector_t &x_f);
    state_vector_t terminalCostDerivative(const state_vector_t &x_f);
    control_matrix_t R_matrix;

};

template <class DIMENSIONS>
double MinimumEnergyCostBolza<DIMENSIONS>::phi(const state_vector_t &x, const control_vector_t & u) {

    double val = (u.transpose()*R_matrix*u)(0);
    return val;
}

template <class DIMENSIONS>
typename DIMENSIONS::state_vector_t MinimumEnergyCostBolza<DIMENSIONS>::phi_x(const state_vector_t &x,
        const control_vector_t & u) {

    return(state_vector_t::Zero());
}

template <class DIMENSIONS>
typename DIMENSIONS::control_vector_t MinimumEnergyCostBolza<DIMENSIONS>::phi_u(const state_vector_t &x,
        const control_vector_t & u) {
    control_vector_t val = 2*R_matrix*u;
    return(val);
}

template <class DIMENSIONS>
double MinimumEnergyCostBolza<DIMENSIONS>::terminalCost(const state_vector_t &x_f) {

    return 0;
}

template <class DIMENSIONS>
typename DIMENSIONS::state_vector_t MinimumEnergyCostBolza<DIMENSIONS>::terminalCostDerivative(const state_vector_t &x_f) {

    return(state_vector_t::Zero());
}

}
}
#endif /* MINIMUMENERGYCOSTBOLZA_HPP_ */