Cost Functions for Standalone Node

[ShivamThukral]

Hi,

Thank for this amazing work and for making everything so easy to follow.

I am trying to use the standalone node basis functions using custom costmaps. My question is regarding the cost functions implemented in the file Cost.cuh and Cost.cu

I am adding my custom cost functions to this file. One of which minimises jerk (something like l2-norm for current and previous controls). I can see that you pass 'u' as current controls here. Is there a way I can calculate or pass previous time-step controls? Can 'du' help me somehow to calculate my previous time-step controls?

I am pretty new to CUDA programming.

Thanks in advance!