Represents the smoothness cost for CHOMP, for a single joint. More...
#include <chomp_cost.h>
Public Member Functions | |
| ChompCost (const ChompTrajectory &trajectory, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0) | |
| double | getCost (Eigen::MatrixXd::ColXpr joint_trajectory) const |
| template<typename Derived > | |
| void | getDerivative (Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase< Derived > &derivative) const |
| double | getMaxQuadCostInvValue () const |
| const Eigen::MatrixXd & | getQuadraticCost () const |
| const Eigen::MatrixXd & | getQuadraticCostInverse () const |
| void | scale (double scale) |
| virtual | ~ChompCost () |
Private Member Functions | |
| Eigen::MatrixXd | getDiffMatrix (int size, const double *diff_rule) const |
Private Attributes | |
| Eigen::MatrixXd | quad_cost_ |
| Eigen::MatrixXd | quad_cost_full_ |
| Eigen::MatrixXd | quad_cost_inv_ |
Represents the smoothness cost for CHOMP, for a single joint.
Definition at line 50 of file chomp_cost.h.
| chomp::ChompCost::ChompCost | ( | const ChompTrajectory & | trajectory, |
| int | joint_number, | ||
| const std::vector< double > & | derivative_costs, | ||
| double | ridge_factor = 0.0 |
||
| ) |
Definition at line 47 of file chomp_cost.cpp.
| chomp::ChompCost::~ChompCost | ( | ) | [virtual] |
Definition at line 107 of file chomp_cost.cpp.
| double chomp::ChompCost::getCost | ( | Eigen::MatrixXd::ColXpr | joint_trajectory | ) | const [inline] |
Definition at line 94 of file chomp_cost.h.
| void chomp::ChompCost::getDerivative | ( | Eigen::MatrixXd::ColXpr | joint_trajectory, |
| Eigen::MatrixBase< Derived > & | derivative | ||
| ) | const |
Definition at line 79 of file chomp_cost.h.
| Eigen::MatrixXd chomp::ChompCost::getDiffMatrix | ( | int | size, |
| const double * | diff_rule | ||
| ) | const [private] |
Definition at line 76 of file chomp_cost.cpp.
| double chomp::ChompCost::getMaxQuadCostInvValue | ( | ) | const |
Definition at line 94 of file chomp_cost.cpp.
| const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCost | ( | ) | const [inline] |
Definition at line 89 of file chomp_cost.h.
| const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCostInverse | ( | ) | const [inline] |
Definition at line 84 of file chomp_cost.h.
| void chomp::ChompCost::scale | ( | double | scale | ) |
Definition at line 99 of file chomp_cost.cpp.
Eigen::MatrixXd chomp::ChompCost::quad_cost_ [private] |
Definition at line 71 of file chomp_cost.h.
Eigen::MatrixXd chomp::ChompCost::quad_cost_full_ [private] |
Definition at line 70 of file chomp_cost.h.
Eigen::MatrixXd chomp::ChompCost::quad_cost_inv_ [private] |
Definition at line 73 of file chomp_cost.h.