bezier_com_traj::cost Namespace Reference

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

Functions
void	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.
void	computeCostMidPoint (const ProblemData &pData, const VectorX &, const double, const T_time &, MatrixXX &H, VectorX &g)
void	computeCostEndVelocity (const ProblemData &pData, const VectorX &, const double T, const T_time &, MatrixXX &H, VectorX &g)
void	computeCostMinAcceleration (const ProblemData &pData, const VectorX &Ts, const double, const T_time &timeArray, MatrixXX &H, VectorX &g)

Detailed Description

This file contains definitions for the different cost functions used in qp minimization

Typedef Documentation

costCompute

typedef void(* bezier_com_traj::cost::costCompute) (const ProblemData &, const VectorX &, const double, const T_time &, MatrixXX &, VectorX &)

T_costCompute

typedef std::map<CostFunction, costCompute> bezier_com_traj::cost::T_costCompute

Function Documentation

computeCostEndVelocity()

void bezier_com_traj::cost::computeCostEndVelocity	(	const ProblemData &	pData,
		const VectorX &	,
		const double	T,
		const T_time &	,
		MatrixXX &	H,
		VectorX &	g
	)

computeCostMidPoint()

void bezier_com_traj::cost::computeCostMidPoint	(	const ProblemData &	pData,
		const VectorX &	,
		const double	,
		const T_time &	,
		MatrixXX &	H,
		VectorX &	g
	)

computeCostMinAcceleration()

void bezier_com_traj::cost::computeCostMinAcceleration	(	const ProblemData &	pData,
		const VectorX &	Ts,
		const double	,
		const T_time &	timeArray,
		MatrixXX &	H,
		VectorX &	g
	)

genCostFunction()

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.

Parameters

Ts	times per phase
pointsPerPhase	TODO replace
H	hessian cost matrix to be filled
g	vector matrix