hpp-core: include/hpp/core/path-optimization/cost.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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cost.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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28// DAMAGE.
29
30#ifndef HPP_CORE_PATH_OPTIMIZATION_COST_HH
31#define HPP_CORE_PATH_OPTIMIZATION_COST_HH
32
33#include <hpp/constraints/differentiable-function.hh>
34#include <hpp/core/config.hh>
35#include <hpp/core/fwd.hh>
36
37namespace hpp {
38namespace core {
39namespace pathOptimization {
44 class HPP_CORE_DLLAPI Cost : public DifferentiableFunction {
45 public:
48 virtual void hessian(matrixOut_t hessian) const = 0;
49
50 protected:
51 Cost(size_type inputSize, size_type inputDerivativeSize,
52 const std::string& name)
53 : DifferentiableFunction(inputSize, inputDerivativeSize,
54 LiegroupSpace::R1(), name) {}
55}; // Cost
56} // namespace pathOptimization
57} // namespace core
58} // namespace hpp
59#endif // HPP_CORE_PATH_OPTIMIZATION_COST_HH
hpp::constraints::DifferentiableFunction
hpp::core::pathOptimization::Cost
Definition cost.hh:44
hpp::core::pathOptimization::Cost::Cost
Cost(size_type inputSize, size_type inputDerivativeSize, const std::string &name)
Definition cost.hh:51
hpp::core::pathOptimization::Cost::hessian
virtual void hessian(matrixOut_t hessian) const =0
hpp::pinocchio::LiegroupSpace
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
differentiable-function.hh
fwd.hh
hpp
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::matrixOut_t
constraints::matrixOut_t matrixOut_t
Definition fwd.hh:167