9 #ifndef _CLASS_QUADRATIC_COST 10 #define _CLASS_QUADRATIC_COST 18 namespace optimization {
29 template <
typename Po
int,
typename Numeric>
31 const std::size_t num_derivate) {
34 typedef typename t_point_t::const_iterator cit_point_t;
35 bezier_t acc = pData.
bezier->compute_derivate(num_derivate);
36 const t_point_t& wps = acc.waypoints();
38 bezier_product<Point, Numeric, cit_point_t>(wps.begin(), wps.end(), wps.begin(), wps.end(), pData.
dim_));
42 template <
typename Po
int,
typename Numeric>
45 std::size_t size = (std::size_t)(flag);
46 return compute_integral_cost_internal<Point, Numeric>(pData, size);
51 #endif //_CLASS_QUADRATIC_COST
Definition: bernstein.h:20
Definition: integral_cost.h:26
Definition: integral_cost.h:21
quadratic_variable< Numeric > compute_integral_cost_internal(const problem_data< Point, Numeric > &pData, const std::size_t num_derivate)
Definition: integral_cost.h:30
bezier_curve< double, double, true, pointX_t > bezier_t
Definition: fwd.h:89
quadratic_variable< Numeric > compute_integral_cost(const problem_data< Point, Numeric > &pData, const integral_cost_flag flag)
Definition: integral_cost.h:43
Definition: integral_cost.h:24
integral_cost_flag
Definition: integral_cost.h:20
Definition: integral_cost.h:22
Definition: integral_cost.h:25
Definition: integral_cost.h:23
std::vector< point_t, Eigen::aligned_allocator< point_t > > t_point_t
Definition: bezier_curve.h:40
utils for defining optimization problems
Definition: bezier_curve.h:33
bezier_t * bezier
Definition: details.h:36
const std::size_t dim_
Definition: details.h:37