Bolza type cost function minimizing the distance to a goal state. More...

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

Public Member Functions
	ReachGoalCostBolza (const state_vector_t &goal, const state_matrix_t &Q=state_matrix_t::Identity(), const state_matrix_t &H=state_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

Bolza type cost function minimizing the distance to a goal state.

Constructor & Destructor Documentation

template<class DIMENSIONS >

DirectTrajectoryOptimization::Costs::ReachGoalCostBolza< DIMENSIONS >::ReachGoalCostBolza	(	const state_vector_t &	goal,
		const state_matrix_t &	Q = `state_matrix_t::Identity()`,
		const state_matrix_t &	H = `state_matrix_t::Identity()`
	)

inline

Constructor.

Parameters

[in]	goal	The goal state
[in]	Q	The weighting matrix for the intermediate cost (distance to goal)
[in]	H	The weighting matrix for the final cost (distance to goal)

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

/home/depardo/catkin_ws/src/direct_trajectoryoptimization/include/optimization/costs/ReachGoalCostBolza.hpp