11 using Base = CostAbstractTpl<Scalar>;
18 void evaluate(
const ConstVectorRef &,
const ConstVectorRef &,
shared_ptr< CostData > createData() const override
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void computeGradients(const ConstVectorRef &, const ConstVectorRef &, CostData &) const override
Compute the cost gradients .
ManifoldAbstractTpl< Scalar > Manifold
ConstantCostTpl(shared_ptr< Manifold > space, const int nu, const Scalar value)
void evaluate(const ConstVectorRef &, const ConstVectorRef &, CostData &data) const override
Evaluate the cost function.
void computeHessians(const ConstVectorRef &, const ConstVectorRef &, CostData &) const override
Compute the cost Hessians .
Stage costs for control problems.
virtual shared_ptr< CostData > createData() const
shared_ptr< Manifold > space
State dimension.