hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-optimization/cost.hh>
Public Member Functions | |
virtual void | hessian (matrixOut_t hessian) const =0 |
Protected Member Functions | |
Cost (size_type inputSize, size_type inputDerivativeSize, const std::string &name) | |
numerical cost for path optimization
Provides an initial guess for the Hessian to initialize quasi-Newton methods.
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inlineprotected |
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pure virtual |
Return an approximation of the Hessian at minimum
hessian | Hessian matrix of right size |