MinimumVelocityCostBolza.hpp

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#ifndef MINIMUMVELOCITYCOSTBOLZA_HPP_
#define MINIMUMVELOCITYCOSTBOLZA_HPP_

#include <Eigen/Dense>
#include <optimization/costs/CostFunctionBolza.hpp>

namespace DirectTrajectoryOptimization {
namespace Costs {

template<class DIMENSIONS>
class MinimumVelocityCostBolza : 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;
    typedef typename DIMENSIONS::state_matrix_t state_matrix_t;

    MinimumVelocityCostBolza(const state_matrix_t & R = state_matrix_t::Identity()):R_matrix(R)
    {

    }

    virtual ~MinimumVelocityCostBolza() {}

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);
    state_matrix_t R_matrix;

};

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

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

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

  state_vector_t val = 2*R_matrix*x;

    return(val);
}

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

    return(control_vector_t::Zero());
}

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

    return 0;
}

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

    return(state_vector_t::Zero());
}

}
}
#endif /* MINIMUMENERGYCOSTBOLZA_HPP_ */