Static Public Member Functions | Protected Member Functions | List of all members
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:
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Collaboration diagram for hpp::core::pathOptimization::PathLength:
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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 (LiegroupElement &result, vectorIn_t argument) const
 
virtual void impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const
 
virtual void hessian (matrixOut_t result) const
 Return an approximation of the Hessian at minimum. More...
 
- Protected Member Functions inherited from hpp::core::pathOptimization::Cost
 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())
 

Additional Inherited Members

- Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual ~DifferentiableFunction ()
 
LiegroupElement operator() (vectorIn_t argument) const
 
void value (LiegroupElement &result, vectorIn_t argument) const
 
void jacobian (matrixOut_t jacobian, vectorIn_t argument) const
 
const ArrayXbactiveParameters () const
 
const ArrayXbactiveDerivativeParameters () 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
 
- Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type inputSize_
 
size_type inputDerivativeSize_
 
LiegroupSpacePtr_t outputSpace_
 
ArrayXb activeParameters_
 
ArrayXb activeDerivativeParameters_
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ PathLength()

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

Member Function Documentation

◆ create()

static PathLengthPtr_t hpp::core::pathOptimization::PathLength::create ( const WeighedDistancePtr_t distance,
const PathVectorPtr_t path 
)
static

◆ hessian()

virtual void hpp::core::pathOptimization::PathLength::hessian ( matrixOut_t  result) const
protectedvirtual

Return an approximation of the Hessian at minimum.

Return values
hessianHessian matrix of right size

Implements hpp::core::pathOptimization::Cost.

◆ impl_compute()

virtual void hpp::core::pathOptimization::PathLength::impl_compute ( LiegroupElement result,
vectorIn_t  argument 
) const
protectedvirtual

◆ impl_jacobian()

virtual void hpp::core::pathOptimization::PathLength::impl_jacobian ( matrixOut_t  jacobian,
vectorIn_t  arg 
) const
protectedvirtual