MinimumTimeCostBolza.hpp

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#ifndef MINIMUMTIMECOSTBOLZA_HPP_
#define MINIMUMTIMECOSTBOLZA_HPP_

#include <optimization/costs/CostFunctionBolza.hpp>

namespace DirectTrajectoryOptimization {
namespace Costs {
template<class DIMENSIONS>
class MinimumTimeCostBolza : 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;

    MinimumTimeCostBolza(){}

    virtual ~MinimumTimeCostBolza() {}

private :

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

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

};

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

    return h;
}
template <class DIMENSIONS>
typename DIMENSIONS::state_vector_t MinimumTimeCostBolza<DIMENSIONS>::phi_x(const state_vector_t &x, const control_vector_t & u , const double &h){

    return(state_vector_t::Zero());
}

template <class DIMENSIONS>
typename DIMENSIONS::control_vector_t MinimumTimeCostBolza<DIMENSIONS>::phi_u(const state_vector_t &x, const control_vector_t & u , const double &h){

    return(state_vector_t::Zero());
}

template <class DIMENSIONS>
double MinimumTimeCostBolza<DIMENSIONS>::phi_h(const state_vector_t & x , const control_vector_t &u , const double & h){

    return(1);
}

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

    return(0);
}

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

    return(state_vector_t::Zero());
}
}
}
#endif /* MINIMUMTIMECOSTBOLZA_HPP_ */