hpp-core
4.13.0
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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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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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/config.hh
>
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#include <
hpp/core/fwd.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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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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};
// 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:162
hpp::core::pathOptimization::Cost
Definition:
cost.hh:44
fwd.hh
hpp::core::matrixOut_t
constraints::matrixOut_t matrixOut_t
Definition:
fwd.hh:156
hpp::core::LiegroupSpace
constraints::LiegroupSpace LiegroupSpace
Definition:
fwd.hh:160
hpp
Definition:
bi-rrt-planner.hh:35
hpp::core::DifferentiableFunction
constraints::DifferentiableFunction DifferentiableFunction
Definition:
fwd.hh:127
hpp::core::pathOptimization::Cost::Cost
Cost(size_type inputSize, size_type inputDerivativeSize, const std::string &name)
Definition:
cost.hh:51
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
path-optimization
cost.hh
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