Trajectory cost function defined by sum of state evaluations at parameters. More...
#include <roboptim/trajectory/trajectory-sum-cost.hh>
Public Types | |
typedef DerivableFunction | parent_t |
Parent type. More... | |
typedef T | trajectory_t |
Trajectory type. More... | |
typedef parent_t::vector_t | vector_t |
Import vector type. More... | |
typedef parent_t::gradient_t | gradient_t |
Import gradient type. More... | |
typedef parent_t::discreteInterval_t | discreteInterval_t |
Import discrete interval type. More... | |
Public Member Functions | |
TrajectorySumCost (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const discreteStableTimePointInterval_t &interval, size_type order=1) | |
Constructor. More... | |
virtual | ~TrajectorySumCost () |
size_type | order () const |
Protected Member Functions | |
void | impl_compute (result_ref, const_argument_ref) const |
void | impl_gradient (gradient_ref, const_argument_ref, size_type) const |
Discrete interval of stable time points. | |
typedef boost::tuple< StableTimePoint, StableTimePoint, StableTimePoint > | discreteStableTimePointInterval_t |
Types representing a discrete interval of stable time points. More... | |
static discreteStableTimePointInterval_t | makeDiscreteInterval (StableTimePoint min, StableTimePoint max, StableTimePoint step) |
Construct a discrete interval. More... | |
static discreteStableTimePointInterval_t | makeDiscreteInterval (interval_t interval, StableTimePoint step) |
Construct a discrete interval. More... | |
static StableTimePoint | getLowerBound (const discreteStableTimePointInterval_t &interval) |
Get the lower bound of a discrete interval. More... | |
static StableTimePoint | getUpperBound (const discreteStableTimePointInterval_t &interval) |
Get the upper bound of a discrete interval. More... | |
static StableTimePoint | getStep (const discreteStableTimePointInterval_t &interval) |
Get the upper step of a discrete interval. More... | |
Trajectory cost function defined by sum of state evaluations at parameters.
The state along a trajectory is defined as the vector containing the configuration and derivatives up to order of the configuration.
where
T | trajectory type |
typedef parent_t::discreteInterval_t roboptim::trajectory::TrajectorySumCost< T >::discreteInterval_t |
Import discrete interval type.
typedef boost::tuple<StableTimePoint, StableTimePoint, StableTimePoint> roboptim::trajectory::TrajectorySumCost< T >::discreteStableTimePointInterval_t |
Types representing a discrete interval of stable time points.
A discrete interval is a triplet of values:
typedef parent_t::gradient_t roboptim::trajectory::TrajectorySumCost< T >::gradient_t |
Import gradient type.
typedef DerivableFunction roboptim::trajectory::TrajectorySumCost< T >::parent_t |
Parent type.
typedef T roboptim::trajectory::TrajectorySumCost< T >::trajectory_t |
Trajectory type.
typedef parent_t::vector_t roboptim::trajectory::TrajectorySumCost< T >::vector_t |
Import vector type.
roboptim::trajectory::TrajectorySumCost< T >::TrajectorySumCost | ( | const trajectory_t & | gamma, |
boost::shared_ptr< DerivableFunction > | cost, | ||
const discreteStableTimePointInterval_t & | interval, | ||
size_type | order = 1 |
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) |
Constructor.
gamma | Trajectory ![]() |
cost | state cost: ![]() |
interval | Stable time points list where cost will be evaluated. |
order | order ![]() |
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virtual |
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inlinestatic |
Get the lower bound of a discrete interval.
interval | accessed discrete interval |
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inlinestatic |
Get the upper step of a discrete interval.
interval | accessed discrete interval |
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inlinestatic |
Get the upper bound of a discrete interval.
interval | accessed discrete interval |
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protected |
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
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protected |
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
ROBOPTIM_DO_NOT_CHECK_ALLOCATION
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inlinestatic |
Construct a discrete interval.
min | miminum value of the interval |
max | maxinum value of the interval |
step | discretization step |
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inlinestatic |
Construct a discrete interval.
interval | continuous interval |
step | discretization step |
TrajectorySumCost< T >::size_type roboptim::trajectory::TrajectorySumCost< T >::order | ( | ) | const |