9 #ifndef _CLASS_QUADRATIC_COST
10 #define _CLASS_QUADRATIC_COST
18 namespace optimization {
29 template <
typename Po
int,
typename Numeric>
35 typedef typename t_point_t::const_iterator cit_point_t;
37 const t_point_t& wps = acc.waypoints();
39 wps.begin(), wps.end(), wps.begin(), wps.end(), pData.
dim_));
43 template <
typename Po
int,
typename Numeric>
46 std::size_t size = (std::size_t)(flag);
47 return compute_integral_cost_internal<Point, Numeric>(pData, size);
utils for defining optimization problems
integral_cost_flag
Definition: integral_cost.h:20
@ FIFTH
Definition: integral_cost.h:26
@ JERK
Definition: integral_cost.h:24
@ VELOCITY
Definition: integral_cost.h:22
@ DISTANCE
Definition: integral_cost.h:21
@ ACCELERATION
Definition: integral_cost.h:23
@ FOURTH
Definition: integral_cost.h:25
quadratic_variable< Numeric > compute_integral_cost(const problem_data< Point, Numeric > &pData, const integral_cost_flag flag)
Definition: integral_cost.h:44
quadratic_variable< Numeric > compute_integral_cost_internal(const problem_data< Point, Numeric > &pData, const std::size_t num_derivate)
Definition: integral_cost.h:30
Definition: bernstein.h:20
bezier_curve< double, double, true, pointX_t > bezier_t
Definition: fwd.h:99
Definition: bezier_curve.h:31
std::vector< point_t, Eigen::aligned_allocator< point_t > > t_point_t
Definition: bezier_curve.h:38
bezier_curve_t compute_derivate(const std::size_t order) const
Compute the derived curve at order N. Computes the derivative order N, of bezier curve of parametric...
Definition: bezier_curve.h:206
bezier_t * bezier
Definition: details.h:38
const std::size_t dim_
Definition: details.h:39