Public Member Functions | Private Member Functions | Private Attributes
chomp::ChompCost Class Reference

Represents the smoothness cost for CHOMP, for a single joint. More...

#include <chomp_cost.h>

List of all members.

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_

Detailed Description

Represents the smoothness cost for CHOMP, for a single joint.

Definition at line 49 of file chomp_cost.h.

Constructor & Destructor Documentation

chomp::ChompCost::ChompCost ( const ChompTrajectory trajectory,
int  joint_number,
const std::vector< double > &  derivative_costs,
double  ridge_factor = 0.0 

Definition at line 46 of file chomp_cost.cpp.

Definition at line 104 of file chomp_cost.cpp.

Member Function Documentation

double chomp::ChompCost::getCost ( Eigen::MatrixXd::ColXpr  joint_trajectory) const [inline]

Definition at line 94 of file chomp_cost.h.

template<typename Derived >
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 73 of file chomp_cost.cpp.

Definition at line 91 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 96 of file chomp_cost.cpp.

Member Data Documentation

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.

The documentation for this class was generated from the following files:

Author(s): Gil Jones
autogenerated on Mon Jul 24 2017 02:21:07