Path length as a cost for optimization. More...
#include <hpp/core/path-optimization/path-length.hh>
Static Public Member Functions | |
static PathLengthPtr_t | create (const WeighedDistancePtr_t &distance, const PathVectorPtr_t &path) |
Protected Member Functions | |
PathLength (const WeighedDistancePtr_t &distance, const PathVectorPtr_t &path) | |
virtual void | impl_compute (vectorOut_t result, vectorIn_t argument) const |
virtual void | impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const |
virtual void | hessianInverse (matrixOut_t result) const |
Return an approximation of the inverse of the Hessian at minimum. |
Path length as a cost for optimization.
Instances are initialized by
The input of the function is a vector concatenating the way points of the path, excluding the first and last way points.
hpp::core::pathOptimization::PathLength::PathLength | ( | const WeighedDistancePtr_t & | distance, |
const PathVectorPtr_t & | path | ||
) | [protected] |
static PathLengthPtr_t hpp::core::pathOptimization::PathLength::create | ( | const WeighedDistancePtr_t & | distance, |
const PathVectorPtr_t & | path | ||
) | [static] |
virtual void hpp::core::pathOptimization::PathLength::hessianInverse | ( | matrixOut_t | hessian | ) | const [protected, virtual] |
Return an approximation of the inverse of the Hessian at minimum.
hessian | Hessian matrix of right size |
Implements hpp::core::pathOptimization::Cost.
virtual void hpp::core::pathOptimization::PathLength::impl_compute | ( | vectorOut_t | result, |
vectorIn_t | argument | ||
) | const [protected, virtual] |
virtual void hpp::core::pathOptimization::PathLength::impl_jacobian | ( | matrixOut_t | jacobian, |
vectorIn_t | arg | ||
) | const [protected, virtual] |