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...

Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()

LiegroupElement	operator() (vectorIn_t argument) const

void	value (LiegroupElementRef result, vectorIn_t argument) const

void	jacobian (matrixOut_t jacobian, vectorIn_t argument) const

const ArrayXb &	activeParameters () const

const ArrayXb &	activeDerivativeParameters () const

size_type	inputSize () const

size_type	inputDerivativeSize () const

LiegroupSpacePtr_t	outputSpace () const

size_type	outputSize () const

size_type	outputDerivativeSize () const

const std::string &	name () const

virtual std::ostream &	print (std::ostream &o) const

std::string	context () const

void	context (const std::string &c)

void	finiteDifferenceForward (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

void	finiteDifferenceCentral (matrixOut_t jacobian, vectorIn_t arg, DevicePtr_t robot=DevicePtr_t(), value_type eps=std::sqrt(Eigen::NumTraits< value_type >::epsilon())) const

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

Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, size_type sizeOutput, std::string name=std::string())

	DifferentiableFunction (size_type sizeInput, size_type sizeInputDerivative, const LiegroupSpacePtr_t &outputSpace, std::string name=std::string())

virtual void	impl_compute (LiegroupElementRef result, vectorIn_t argument) const =0

virtual void	impl_jacobian (matrixOut_t jacobian, vectorIn_t arg) const =0

Additional Inherited Members
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
size_type	inputSize_

size_type	inputDerivativeSize_

LiegroupSpacePtr_t	outputSpace_

ArrayXb	activeParameters_

ArrayXb	activeDerivativeParameters_

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