#include <roboptim/trajectory/anthropomorphic-cost-function.hh>
Public Member Functions | |
AnthropomorphicCostFunction (const T &trajectory, const typename boost::optional< vector_t > alpha=typename boost::optional< vector_t >(), const typename boost::optional< value_type > ksi1=typename boost::optional< value_type >(), const typename boost::optional< value_type > ksi2=typename boost::optional< value_type >()) throw () | |
~AnthropomorphicCostFunction () throw () |
Static Public Member Functions | |
static vector_t | defaultAlpha () |
static value_type | defaultKsi1 () |
static value_type | defaultKsi2 () |
Protected Member Functions | |
void | impl_compute (result_t &res, const argument_t &p) const throw () |
void | impl_gradient (gradient_t &grad, const argument_t &p, size_type i) const throw () |
Cost function from ``An optimal control model unifying holonomic and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots).
roboptim::AnthropomorphicCostFunction< T >::AnthropomorphicCostFunction | ( | const T & | trajectory, |
const typename boost::optional< vector_t > | alpha = typename boost::optional<vector_t> () , |
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const typename boost::optional< value_type > | ksi1 = typename boost::optional<value_type> () , |
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const typename boost::optional< value_type > | ksi2 = typename boost::optional<value_type> () |
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) | throw () |
roboptim::AnthropomorphicCostFunction< T >::~AnthropomorphicCostFunction | ( | ) | throw () |
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inlinestatic |
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inlinestatic |
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protected |
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protected |