numerical cost for path optimization More...

#include <hpp/core/path-optimization/cost.hh>

Inheritance diagram for hpp::core::pathOptimization::Cost:

Collaboration diagram for hpp::core::pathOptimization::Cost:

Public Member Functions
virtual void	hessian (matrixOut_t hessian) const =0
	Return an approximation of the Hessian at minimum. More...

Protected Member Functions
	Cost (size_type inputSize, size_type inputDerivativeSize, const std::string &name)

Detailed Description

numerical cost for path optimization

Provides an initial guess for the Hessian to initialize quasi-Newton methods.

Constructor & Destructor Documentation

hpp::core::pathOptimization::Cost::Cost	(	size_type	inputSize,
		size_type	inputDerivativeSize,
		const std::string &	name
	)

inlineprotected

virtual void hpp::core::pathOptimization::Cost::hessian ( matrixOut_t hessian ) const

pure virtual

Return an approximation of the Hessian at minimum.

Return values

hessian Hessian matrix of right size