Inheritance diagram for hpp::core::pathOptimization::Cost:

Collaboration diagram for hpp::core::pathOptimization::Cost:

Public Member Functions
virtual void	hessian (matrixOut_t hessian) const =0
Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()
LiegroupElement	operator() (vectorIn_t argument) const
void	value (LiegroupElementRef result, vectorIn_t argument) const
void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const
const ArrayXb &	activeParameters () const
const ArrayXb &	activeDerivativeParameters () const
size_type	inputSize () const
size_type	inputDerivativeSize () const
LiegroupSpacePtr_t	outputSpace () const
size_type	outputSize () const
size_type	outputDerivativeSize () const
const std::string &	name () const
virtual std::ostream &	print (std::ostream &o) const
std::string	context () const
void	context (const std::string &c)
void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const
bool	operator== (DifferentiableFunction const &other) const
bool	operator!= (DifferentiableFunction const &b) const
virtual std::pair< JointConstPtr_t, JointConstPtr_t >	dependsOnRelPoseBetween (DeviceConstPtr_t) const

Protected Member Functions
	Cost (size_type inputSize, size_type inputDerivativeSize, const std::string &name)
Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())
virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const=0
virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const=0
virtual bool	isEqual (const DifferentiableFunction &other) const
	DifferentiableFunction ()

Additional Inherited Members
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static DifferentiableFunctionPtr_t	extract (DifferentiableFunctionPtr_t original, interval_t interval)
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_
size_type	inputDerivativeSize_
LiegroupSpacePtr_t	outputSpace_
ArrayXb	activeParameters_
ArrayXb	activeDerivativeParameters_

Detailed Description

numerical cost for path optimization

Provides an initial guess for the Hessian to initialize quasi-Newton methods.

Constructor & Destructor Documentation

hpp::core::pathOptimization::Cost::Cost	(	size_type	inputSize,
		size_type	inputDerivativeSize,
		const std::string &	name )

inlineprotected

virtual void hpp::core::pathOptimization::Cost::hessian ( matrixOut_t hessian ) const

pure virtual

Return an approximation of the Hessian at minimum

Return values

hessian Hessian matrix of right size

The documentation for this class was generated from the following file: