Trajectory cost function defined by state evaluation at parameter. More...
#include <roboptim/trajectory/state-function.hh>


Public Types | |
| typedef T | trajectory_t |
| Trajectory type. | |
Public Member Functions | |
| StateFunction (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1) | |
| Constructor. | |
| virtual | ~StateFunction () |
| size_type | order () const |
Static Public Member Functions | |
| template<typename F , typename CLIST > | |
| static void | addToProblem (const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, typename Function::interval_t bounds, unsigned nConstraints) |
| template<typename F , typename CLIST > | |
| static void | addToProblem (const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, const typename Function::intervals_t &bounds, const std::vector< typename Function::value_type > &scales, unsigned nConstraints) |
Protected Member Functions | |
| void | impl_compute (result_ref, const_argument_ref) const |
| void | impl_gradient (gradient_ref, const_argument_ref, size_type) const |
Trajectory cost function defined by state evaluation at parameter.
The state along a trajectory is defined as the vector containing the configuration and derivatives up to order 
![\[
\textbf{Cost}(\Gamma) = cost
\left({\Gamma(t)}, {\dot{\Gamma}(t)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t)
\right)
\]](form_15.png)
where




| T | trajectory type |
| typedef T roboptim::trajectory::StateFunction< T >::trajectory_t |
Trajectory type.
| roboptim::trajectory::StateFunction< T >::StateFunction | ( | const trajectory_t & | gamma, |
| boost::shared_ptr< DerivableFunction > | cost, | ||
| const StableTimePoint | tpt, | ||
| size_type | order = 1 |
||
| ) |
Constructor.
| gamma | Trajectory |
| cost | state cost: |
| tpt | parameter |
| order | order |
| std::runtime_error |
References roboptim::trajectory::StateFunction< T >::order().
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virtual |
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inlinestatic |
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inlinestatic |
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protected |
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
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protected |
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
| StateFunction< T >::size_type roboptim::trajectory::StateFunction< T >::order | ( | ) | const |