hpp::core::pathOptimization::Cost Class Reference

numerical cost for path optimization More...

#include <hpp/core/path-optimization/cost.hh>

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

List of all members.

Public Member Functions

virtual void hessianInverse (matrixOut_t hessian) const =0
 Return an approximation of the inverse of the Hessian at minimum.

Protected Member Functions

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

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 
) [inline, protected]

Member Function Documentation

virtual void hpp::core::pathOptimization::Cost::hessianInverse ( matrixOut_t  hessian) const [pure virtual]

Return an approximation of the inverse of the Hessian at minimum.

Return values:
hessianHessian matrix of right size

Implemented in hpp::core::pathOptimization::PathLength.