hpp-core  4.10.1
Implement basic classes for canonical path planning for kinematic chains.
hpp::core::pathOptimization::Cost Class Referenceabstract

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

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

Public Member Functions

virtual void hessian (matrixOut_t hessian) const =0
 

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

◆ Cost()

hpp::core::pathOptimization::Cost::Cost ( size_type  inputSize,
size_type  inputDerivativeSize,
const std::string &  name 
)
inlineprotected

Member Function Documentation

◆ hessian()

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

Return an approximation of the Hessian at minimum

Return values
hessianHessian matrix of right size

The documentation for this class was generated from the following file: