ReachGoalCostBolza.hpp

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#ifndef REACHGOALCOSTBOLZA_HPP_
#define REACHGOALCOSTBOLZA_HPP_

#include <optimization/costs/CostFunctionBolza.hpp>

namespace DirectTrajectoryOptimization {
namespace Costs {

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

public :

    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef typename DIMENSIONS::state_vector_t state_vector_t;
    typedef typename DIMENSIONS::state_matrix_t state_matrix_t;

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

    ReachGoalCostBolza(const state_vector_t & goal, const state_matrix_t & Q=state_matrix_t::Identity(), const state_matrix_t & H = state_matrix_t::Identity()):Q_(Q),goal_(goal),H_(H)
    {}

    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);

    virtual ~ReachGoalCostBolza() {}

    state_vector_t goal_;
    state_matrix_t Q_;
    state_matrix_t H_;
};

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

    double val = (x-goal_).transpose()*Q_*(x-goal_);
    return val;
}

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

    return(2*Q_*(x-goal_));
}

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

    return(control_vector_t::Zero());
}


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

    double terminal_cost = (x_f-goal_).transpose()*H_*(x_f-goal_);

    return terminal_cost;
}

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

    return(2*H_*(x_f-goal_));

}
}
}
#endif /* REACHGOALCOSTBOLZA_HPP_ */