ZeroCostBolza.hpp

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#ifndef ZEROCOSTBOLZA_HPP_
#define ZEROCOSTBOLZA_HPP_

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

namespace DirectTrajectoryOptimization {
namespace Costs {

template<class DIMENSIONS>
class ZeroCostBolza : 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;

    ZeroCostBolza() { }

    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 ~ZeroCostBolza() {}
};

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

    return 0.0;
}

template <class DIMENSIONS>
typename DIMENSIONS::state_vector_t ZeroCostBolza<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 ZeroCostBolza<DIMENSIONS>::phi_u(const state_vector_t & x, const control_vector_t & u) {
    return(control_vector_t::Zero());
}

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

    return 0;
}

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

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