chc.cost

Stability tier: stable.

Bolza objective (running + terminal quadratic cost) and the trajectory cost functional.

QuadraticCost

Bases: Module

Bolza quadratic cost: running + terminal penalties on x - x_target and u.

x_target is one target for every state, shape (n,), or one per state of a plan, shape (H + 1, n): row k is the target of x_k and the last row the terminal one. A row means nothing without its step, so with a per-state target running and terminal take the row as target, and targets hands every consumer the rows of an H-step plan.

targets(horizon)

(horizon + 1, n): the target of every state of a horizon-step plan.

total_cost(dyn, x0, us, dt, cost)

J = Σ_{k<H} L(x_k, u_k) + Φ(x_H) over the rolled-out trajectory.