hpp::core::pathOptimization::PathLength Class Reference

Path length as a cost for optimization. More...

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

Inheritance diagram for hpp::core::pathOptimization::PathLength:
Collaboration diagram for hpp::core::pathOptimization::PathLength:

List of all members.

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.

Detailed Description

Path length as a cost for optimization.

Instances are initialized by

  • way points stored in a PathVector,
  • a WeighedDistance object that defines the length of the interpolations between way points.

The input of the function is a vector concatenating the way points of the path, excluding the first and last way points.


Constructor & Destructor Documentation

hpp::core::pathOptimization::PathLength::PathLength ( const WeighedDistancePtr_t distance,
const PathVectorPtr_t path 
) [protected]

Member Function Documentation

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.

Return values:
hessianHessian 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]