hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
cost.hh
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//
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// Copyright (c) 2014 CNRS
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// Authors: Florent Lamiraux
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//
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// This file is part of hpp-core
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// hpp-core is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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//
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// hpp-core is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// hpp-core If not, see
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// <http://www.gnu.org/licenses/>.
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#ifndef HPP_CORE_PATH_OPTIMIZATION_COST_HH
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# define HPP_CORE_PATH_OPTIMIZATION_COST_HH
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# include <hpp/constraints/differentiable-function.hh>
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# include <
hpp/core/fwd.hh
>
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# include <
hpp/core/config.hh
>
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namespace
hpp
{
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namespace
core {
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namespace
pathOptimization {
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class
HPP_CORE_DLLAPI
Cost
:
public
DifferentiableFunction
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{
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public
:
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virtual
void
hessian (
matrixOut_t
hessian)
const
= 0;
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protected
:
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Cost
(
size_type
inputSize,
size_type
inputDerivativeSize,
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const
std::string& name) :
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DifferentiableFunction
(inputSize, inputDerivativeSize,
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LiegroupSpace
::R1 (), name)
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{
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}
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};
// Cost
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}
// namespace pathOptimization
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_PATH_OPTIMIZATION_COST_HH
hpp::core::size_type
pinocchio::size_type size_type
Definition:
fwd.hh:156
hpp::core::pathOptimization::Cost
Definition:
cost.hh:33
fwd.hh
hpp::core::matrixOut_t
constraints::matrixOut_t matrixOut_t
Definition:
fwd.hh:150
hpp::core::LiegroupSpace
constraints::LiegroupSpace LiegroupSpace
Definition:
fwd.hh:154
hpp
Definition:
basic-configuration-shooter.hh:26
hpp::core::DifferentiableFunction
constraints::DifferentiableFunction DifferentiableFunction
Definition:
fwd.hh:118
hpp::core::pathOptimization::Cost::Cost
Cost(size_type inputSize, size_type inputDerivativeSize, const std::string &name)
Definition:
cost.hh:41
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
path-optimization
cost.hh
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