costfunction_definition.cpp File Reference

#include <hpp/bezier-com-traj/common_solve_methods.hh>
#include <hpp/bezier-com-traj/cost/costfunction_definition.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_definition.hh>

Include dependency graph for costfunction_definition.cpp:

Namespaces
namespace	bezier_com_traj
namespace	bezier_com_traj::cost

Typedefs
typedef void(*	bezier_com_traj::cost::costCompute) (const ProblemData &, const VectorX &, const double, const T_time &, MatrixXX &, VectorX &)
typedef std::map< CostFunction, costCompute >	bezier_com_traj::cost::T_costCompute

Functions
void	bezier_com_traj::cost::computeCostMidPoint (const ProblemData &pData, const VectorX &, const double, const T_time &, MatrixXX &H, VectorX &g)
void	bezier_com_traj::cost::computeCostEndVelocity (const ProblemData &pData, const VectorX &, const double T, const T_time &, MatrixXX &H, VectorX &g)
void	bezier_com_traj::cost::computeCostMinAcceleration (const ProblemData &pData, const VectorX &Ts, const double, const T_time &timeArray, MatrixXX &H, VectorX &g)
void	bezier_com_traj::cost::genCostFunction (const ProblemData &pData, const VectorX &Ts, const double T, const T_time &timeArray, MatrixXX &H, VectorX &g)
	genCostFunction generate a cost function according to the constraints of the problem, and the flag selected in ProblemData. The cost has the form x' H x + 2 g' x.