cost.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
// This file is part of hpp-core
// hpp-core is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-core is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-core  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CORE_PATH_OPTIMIZATION_COST_HH
# define HPP_CORE_PATH_OPTIMIZATION_COST_HH

# include <hpp/constraints/differentiable-function.hh>
# include <hpp/core/fwd.hh>
# include <hpp/core/config.hh>

namespace hpp {
  namespace core {
    namespace pathOptimization {
      class HPP_CORE_DLLAPI Cost : public DifferentiableFunction
      {
      public:
    virtual void hessian (matrixOut_t hessian) const = 0;

      protected:
    Cost (size_type inputSize, size_type inputDerivativeSize,
          const std::string& name) :
      DifferentiableFunction (inputSize, inputDerivativeSize,
                                  LiegroupSpace::R1 (), name)
    {
    }
      }; // Cost
    } // namespace pathOptimization
  }  // namespace core
} // namespace hpp
#endif // HPP_CORE_PATH_OPTIMIZATION_COST_HH