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 (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... | |
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Cost (size_type inputSize, size_type inputDerivativeSize, const std::string &name) | |
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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()) | |
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.
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Return an approximation of the Hessian at minimum.
hessian | Hessian matrix of right size |
Implements hpp::core::pathOptimization::Cost.
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Implements hpp::constraints::DifferentiableFunction.
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protectedvirtual |
Implements hpp::constraints::DifferentiableFunction.