format

Author: nim65s

include/ddp-actuator-solver/costfunction.hh

@@ -3,66 +3,70 @@
 
 #include <Eigen/Core>
 
-template<typename precision,int stateSize,int commandSize>
-class CostFunction
-{
-public:
-    typedef Eigen::Matrix<precision,stateSize,1> stateVec_t;                  // 1 x stateSize
-    typedef Eigen::Matrix<precision,1,stateSize> stateVecTrans_t;                  // 1 x stateSize
-    typedef Eigen::Matrix<precision,stateSize,stateSize> stateMat_t;               // stateSize x stateSize
-    typedef Eigen::Matrix<precision,stateSize,stateSize> stateTens_t[stateSize];   // stateSize x stateSize x stateSize
+template <typename precision, int stateSize, int commandSize>
+class CostFunction {
+ public:
+  typedef Eigen::Matrix<precision, stateSize, 1> stateVec_t;                      // 1 x stateSize
+  typedef Eigen::Matrix<precision, 1, stateSize> stateVecTrans_t;                 // 1 x stateSize
+  typedef Eigen::Matrix<precision, stateSize, stateSize> stateMat_t;              // stateSize x stateSize
+  typedef Eigen::Matrix<precision, stateSize, stateSize> stateTens_t[stateSize];  // stateSize x stateSize x stateSize
 
-    // typedef for commandSize types
-    typedef Eigen::Matrix<precision,commandSize,1> commandVec_t;                           // commandSize x 1
-    typedef Eigen::Matrix<precision,1,commandSize> commandVecTrans_t;                      // 1 x commandSize
-    typedef Eigen::Matrix<precision,commandSize,commandSize> commandMat_t;                 // commandSize x commandSize
-    typedef Eigen::Matrix<precision,commandSize,commandSize> commandTens_t[commandSize];   // stateSize x commandSize x commandSize
+  // typedef for commandSize types
+  typedef Eigen::Matrix<precision, commandSize, 1> commandVec_t;            // commandSize x 1
+  typedef Eigen::Matrix<precision, 1, commandSize> commandVecTrans_t;       // 1 x commandSize
+  typedef Eigen::Matrix<precision, commandSize, commandSize> commandMat_t;  // commandSize x commandSize
+  typedef Eigen::Matrix<precision, commandSize, commandSize>
+      commandTens_t[commandSize];  // stateSize x commandSize x commandSize
 
+  // typedef for mixed stateSize and commandSize types
+  typedef Eigen::Matrix<precision, stateSize, commandSize> stateR_commandC_t;  // stateSize x commandSize
+  typedef Eigen::Matrix<precision, stateSize, commandSize>
+      stateR_commandC_stateD_t[stateSize];  // stateSize x commandSize x stateSize
+  typedef Eigen::Matrix<precision, stateSize, commandSize>
+      stateR_commandC_commandD_t[commandSize];                                 // stateSize x commandSize x commandSize
+  typedef Eigen::Matrix<precision, commandSize, stateSize> commandR_stateC_t;  // commandSize x stateSize
+  typedef Eigen::Matrix<precision, commandSize, stateSize>
+      commandR_stateC_stateD_t[stateSize];  // commandSize x stateSize x stateSize
+  typedef Eigen::Matrix<precision, commandSize, stateSize>
+      commandR_stateC_commandD_t[commandSize];  // commandSize x stateSize x commandSize
+  typedef Eigen::Matrix<precision, stateSize, stateSize>
+      stateR_stateC_commandD_t[commandSize];  // stateSize x stateSize x commandSize
+  typedef Eigen::Matrix<precision, commandSize, commandSize>
+      commandR_commandC_stateD_t[stateSize];  // commandSize x commandSize x stateSize
 
+ public:
+ private:
+ protected:
+  // attributes //
+ public:
+ private:
+ protected:
+  double dt;
+  double final_cost;
+  double running_cost;
+  stateVec_t lx;
+  stateMat_t lxx;
+  commandVec_t lu;
+  commandMat_t luu;
+  commandR_stateC_t lux;
+  stateR_commandC_t lxu;
+  // methods //
+ public:
+  virtual void computeCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes, const commandVec_t& U) = 0;
+  virtual void computeFinalCostAndDeriv(const stateVec_t& X, const stateVec_t& Xdes) = 0;
 
-    // typedef for mixed stateSize and commandSize types
-    typedef Eigen::Matrix<precision,stateSize,commandSize> stateR_commandC_t;                          // stateSize x commandSize
-    typedef Eigen::Matrix<precision,stateSize,commandSize> stateR_commandC_stateD_t[stateSize];        // stateSize x commandSize x stateSize
-    typedef Eigen::Matrix<precision,stateSize,commandSize> stateR_commandC_commandD_t[commandSize];    // stateSize x commandSize x commandSize
-    typedef Eigen::Matrix<precision,commandSize,stateSize> commandR_stateC_t;                          // commandSize x stateSize
-    typedef Eigen::Matrix<precision,commandSize,stateSize> commandR_stateC_stateD_t[stateSize];        // commandSize x stateSize x stateSize
-    typedef Eigen::Matrix<precision,commandSize,stateSize> commandR_stateC_commandD_t[commandSize];    // commandSize x stateSize x commandSize
-    typedef Eigen::Matrix<precision,stateSize,stateSize> stateR_stateC_commandD_t[commandSize];    // stateSize x stateSize x commandSize
-    typedef Eigen::Matrix<precision,commandSize,commandSize> commandR_commandC_stateD_t[stateSize];    // commandSize x commandSize x stateSize
-
-public:
-private:
-protected:
-    // attributes //
-public:
-private:
-
-protected:
-    double dt;
-    double final_cost;
-    double running_cost;
-    stateVec_t lx;
-    stateMat_t lxx;
-    commandVec_t lu;
-    commandMat_t luu;
-    commandR_stateC_t lux;
-    stateR_commandC_t lxu;
-    // methods //
-public:
-    virtual void computeCostAndDeriv(const stateVec_t& X,const stateVec_t& Xdes, const commandVec_t& U)=0;
-    virtual void computeFinalCostAndDeriv(const stateVec_t& X,const stateVec_t& Xdes)=0;
-private:
-protected:
-    // accessors //
-public:
-    double& getRunningCost()    { return running_cost;}
-    double& getFinalCost()      { return final_cost; }
-    stateVec_t& getlx()         {return lx;}
-    stateMat_t& getlxx()        {return lxx;}
-    commandVec_t& getlu()       {return lu;}
-    commandMat_t& getluu()      {return luu;}
-    commandR_stateC_t& getlux() {return lux;}
-    stateR_commandC_t& getlxu() {return lxu;}
+ private:
+ protected:
+  // accessors //
+ public:
+  double& getRunningCost() { return running_cost; }
+  double& getFinalCost() { return final_cost; }
+  stateVec_t& getlx() { return lx; }
+  stateMat_t& getlxx() { return lxx; }
+  commandVec_t& getlu() { return lu; }
+  commandMat_t& getluu() { return luu; }
+  commandR_stateC_t& getlux() { return lux; }
+  stateR_commandC_t& getlxu() { return lxu; }
 };
 
-#endif // COSTFUNCTION_H
+#endif  // COSTFUNCTION_H