DirectTrajectoryOptimization  v0.3
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DirectTrajectoryOptimization::BaseClass::CostFunctionBolza< DIMENSIONS > Class Template Referenceabstract

Base class to derive cost function of the type J = sum_k( phi_k(x_k,u_k,k) ) + H(X_K) More...

#include <CostFunctionBolza.hpp>

Inheritance diagram for DirectTrajectoryOptimization::BaseClass::CostFunctionBolza< DIMENSIONS >:
DirectTrajectoryOptimization::Costs::MinimumEnergyCostBolza< DIMENSIONS > DirectTrajectoryOptimization::Costs::MinimumTimeCostBolza< DIMENSIONS > DirectTrajectoryOptimization::Costs::MinimumVelocityCostBolza< DIMENSIONS > DirectTrajectoryOptimization::Costs::ReachGoalCostBolza< DIMENSIONS > DirectTrajectoryOptimization::Costs::ZeroCostBolza< DIMENSIONS >

Public Member Functions

double IntermediateCost (const state_vector_t &x, const control_vector_t &u, const double &h)
 Intermediate cost function. More...
 

Detailed Description

template<class DIMENSIONS>
class DirectTrajectoryOptimization::BaseClass::CostFunctionBolza< DIMENSIONS >

Base class to derive cost function of the type J = sum_k( phi_k(x_k,u_k,k) ) + H(X_K)

Member Function Documentation

template<class DIMENSIONS >
double DirectTrajectoryOptimization::BaseClass::CostFunctionBolza< DIMENSIONS >::IntermediateCost ( const state_vector_t &  x,
const control_vector_t &  u,
const double &  h 
)

Intermediate cost function.

Parameters
[in]xsate vector
[in]ucontrol vector
[in]hincrement
Returns
value of the intermediate/instantaneous cost function
The documentation for this class was generated from the following file: