A cost that measures quadratic tracking error and control cost. Note that the time must exist in the state. More...
#include <Objective.h>
Inheritance diagram for QuadraticObjective:
Public Member Functions | |
| QuadraticObjective (int timeIndex=0) | |
| virtual const char * | TypeString () |
| Subclasses: return an identifier for this goal type. | |
| virtual Real | TerminalCost (const Vector &qend) |
| virtual Real | DifferentialCost (const State &x, const ControlInput &u) |
| Subclasses must override this. | |
 Public Member Functions inherited from IntegratorObjectiveFunctional | |
| IntegratorObjectiveFunctional (Real dt=0.1, int timeIndex=-1) | |
| virtual Real | Domain (const ControlInput &u, const Interpolator *path) |
| Subclasses should override this if timeIndex < 0. | |
| virtual Real | IncrementalCost (const ControlInput &u, const Interpolator *path) |
| This is implemented for you. | |
| Public Member Functions inherited from ObjectiveFunctionalBase | |
| virtual std::string | Description () |
| Subclasses: return a string for printing (optional) | |
| virtual Real | IncrementalCost (const Interpolator *path) |
| virtual Real | IncrementalCost (const KinodynamicMilestonePath &path) |
| virtual Real | TerminalCost (const Config &qend) |
| Subclasses: return the cost of a terminal state. | |
| virtual bool | PathInvariant () const |
| Subclasses: planners may exploit path-invariant costs for faster performance. | |
| virtual Real | PathCost (const MilestonePath &path) |
| virtual Real | PathCost (const KinodynamicMilestonePath &path) |
| virtual bool | SaveParams (AnyCollection &collection) |
| Subclasses: read and write parameters to collection. | |
| virtual bool | LoadParams (AnyCollection &collection) |
Public Attributes | |
| InterpolatorPtr | desiredPath |
| Math::Matrix | stateCostMatrix |
| Math::Matrix | controlCostMatrix |
| Math::Matrix | terminalCostMatrix |
| Public Attributes inherited from IntegratorObjectiveFunctional | |
| Real | dt |
| int | timeIndex |
Detailed Description
A cost that measures quadratic tracking error and control cost. Note that the time must exist in the state.
The error functional has differential cost L(x,u,t) = (x-xdes(t))^T P (x-xdes(t)) + u^T Q u with P = stateCostMatrix and Q = controlCost matrix.
Terminal cost is Phi(x) = (x-xdes(T))^T R (x-xdes(T)) with R = terminalCostMatrix.
The documentation for this class was generated from the following files:
- Objective.h
- Objective.cpp
