chomp_cost.h
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00034 
00035 /* Author: Mrinal Kalakrishnan */
00036 
00037 #ifndef CHOMP_COST_H_
00038 #define CHOMP_COST_H_
00039 
00040 #include <eigen3/Eigen/Core>
00041 #include <chomp_motion_planner/chomp_trajectory.h>
00042 #include <vector>
00043 
00044 namespace chomp
00045 {
00046 
00050 class ChompCost
00051 {
00052 public:
00053   ChompCost(const ChompTrajectory& trajectory, int joint_number, const std::vector<double>& derivative_costs, double ridge_factor=0.0);
00054   virtual ~ChompCost();
00055 
00056   template<typename Derived>
00057   void getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const;
00058 
00059   const Eigen::MatrixXd& getQuadraticCostInverse() const;
00060 
00061   const Eigen::MatrixXd& getQuadraticCost() const;
00062 
00063   double getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const;
00064 
00065   double getMaxQuadCostInvValue() const;
00066 
00067   void scale(double scale);
00068 
00069 private:
00070   Eigen::MatrixXd quad_cost_full_;
00071   Eigen::MatrixXd quad_cost_;
00072   //Eigen::VectorXd linear_cost_;
00073   Eigen::MatrixXd quad_cost_inv_;
00074 
00075   Eigen::MatrixXd getDiffMatrix(int size, const double* diff_rule) const;
00076 };
00077 
00078 template<typename Derived>
00079 void ChompCost::getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const
00080 {
00081   derivative = (quad_cost_full_ * (2.0 * joint_trajectory));
00082 }
00083 
00084 inline const Eigen::MatrixXd& ChompCost::getQuadraticCostInverse() const
00085 {
00086   return quad_cost_inv_;
00087 }
00088 
00089 inline const Eigen::MatrixXd& ChompCost::getQuadraticCost() const
00090 {
00091   return quad_cost_;
00092 }
00093 
00094 inline double ChompCost::getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const
00095 {
00096   return joint_trajectory.dot(quad_cost_full_ * joint_trajectory);
00097 }
00098 
00099 } // namespace chomp
00100 
00101 #endif /* CHOMP_COST_H_ */


chomp_motion_planner
Author(s): Gil Jones
autogenerated on Wed Sep 16 2015 04:42:45