DirectTrajectoryOptimization::Costs::MinimumEnergyCostBolza< DIMENSIONS > Class Template Reference

Bolza type cost function minimizing the total energy e = uTRu. More...

#include <MinimumEnergyCostBolza.hpp>

Inheritance diagram for DirectTrajectoryOptimization::Costs::MinimumEnergyCostBolza< DIMENSIONS >:

Public Member Functions
	MinimumEnergyCostBolza (const control_matrix_t &R=control_matrix_t::Identity())
	Constructor. More...
Public Member Functions inherited from DirectTrajectoryOptimization::BaseClass::CostFunctionBolza< DIMENSIONS >
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::Costs::MinimumEnergyCostBolza< DIMENSIONS >

Bolza type cost function minimizing the total energy e = uTRu.

Constructor & Destructor Documentation

template<class DIMENSIONS>

DirectTrajectoryOptimization::Costs::MinimumEnergyCostBolza< DIMENSIONS >::MinimumEnergyCostBolza ( const control_matrix_t &  R = control_matrix_t::Identity() )

inline

Constructor.

Parameters

[in]

R

The weighting matrix for the energy index

---

The documentation for this class was generated from the following file:

• /home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/optimization/costs/MinimumEnergyCostBolza.hpp