12template <
typename Scalar>
15 using Base = QuadraticResidualCostTpl<Scalar>;
21 :
Base(resdl->space_, resdl, weights) {}
24 const ConstVectorRef &target,
const MatrixXs &weights)
38template <
typename Scalar>
41 using Base = QuadraticResidualCostTpl<Scalar>;
43 using Error = ControlErrorResidualTpl<Scalar>;
46 const MatrixXs &weights)
50 const ConstMatrixRef &weights)
55 const ConstVectorRef &target,
56 const ConstMatrixRef &weights)
72#ifdef ALIGATOR_ENABLE_TEMPLATE_INSTANTIATION
73#include "./quad-state-cost.txx"
shared_ptr< Manifold > space
State dimension.
void setTarget(const ConstVectorRef &target)
const Error & residual() const
QuadraticControlCostTpl(shared_ptr< Manifold > space, int nu, const ConstMatrixRef &weights)
ControlErrorResidualTpl< Scalar > Error
ConstVectorRef getTarget() const
QuadraticControlCostTpl(shared_ptr< Manifold > space, const ConstVectorRef &target, const ConstMatrixRef &weights)
ManifoldAbstractTpl< Scalar > Manifold
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
QuadraticControlCostTpl(shared_ptr< Manifold > space, shared_ptr< Error > resdl, const MatrixXs &weights)
Quadratic composite of an underlying function.
shared_ptr< StageFunction > residual_
Quadratic distance cost over the state manifold.
QuadraticStateCostTpl(shared_ptr< StateError > resdl, const MatrixXs &weights)
ManifoldAbstractTpl< Scalar > Manifold
ConstVectorRef getTarget() const
const StateError & residual() const
StateErrorResidualTpl< Scalar > StateError
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
QuadraticStateCostTpl(shared_ptr< Manifold > space, const int nu, const ConstVectorRef &target, const MatrixXs &weights)
void setTarget(const ConstVectorRef target)