numerical cost for path optimization More...
#include <hpp/core/path-optimization/cost.hh>
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) |
numerical cost for path optimization
Provides an initial guess for the Hessian to initialize quasi-Newton methods.
hpp::core::pathOptimization::Cost::Cost | ( | size_type | inputSize, |
size_type | inputDerivativeSize, | ||
const std::string & | name | ||
) | [inline, protected] |
virtual void hpp::core::pathOptimization::Cost::hessianInverse | ( | matrixOut_t | hessian | ) | const [pure virtual] |
Return an approximation of the inverse of the Hessian at minimum.
hessian | Hessian matrix of right size |
Implemented in hpp::core::pathOptimization::PathLength.