costfunction_definition.hh File Reference

#include <hpp/bezier-com-traj/data.hh>
#include "boost/assign.hpp"

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Namespaces
namespace	bezier_com_traj
namespace	bezier_com_traj::cost

Functions
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.