hpp-bezier-com-traj  4.13.0
Multi contact trajectory generation for the COM using Bezier curves
costfunction_definition.hh
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1 /*
2  * Copyright 2018, LAAS-CNRS
3  * Author: Steve Tonneau
4  */
5 
6 #ifndef BEZIER_COM_COST_WP_DEF_H
7 #define BEZIER_COM_COST_WP_DEF_H
8 
10 
11 #include "boost/assign.hpp"
12 
13 namespace bezier_com_traj {
18 namespace cost {
19 
28 void genCostFunction(const ProblemData& pData, const VectorX& Ts,
29  const double T, const T_time& timeArray, MatrixXX& H,
30  VectorX& g);
31 
32 } // namespace cost
33 } // namespace bezier_com_traj
34 
35 #endif
centroidal_dynamics::VectorX VectorX
Definition: definitions.hh:24
std::vector< std::pair< double, int > > T_time
Definition: definitions.hh:59
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: definitions.hh:21
Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost fun...
Definition: data.hh:92
Definition: common_solve_methods.hh:15
void genCostFunction(const ProblemData &pData, const VectorX &Ts, const double T, const T_time &timeArray, MatrixXX &H, VectorX &g)
genCostFunction generate a cost function according to the constraints of the problem, and the flag selected in ProblemData. The cost has the form x&#39; H x + 2 g&#39; x.
Definition: costfunction_definition.cpp:63