Represents the smoothness cost for CHOMP, for a single joint.
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#include <chomp_cost.h>
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| Eigen::MatrixXd | getDiffMatrix (int size, const double *diff_rule) const |
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Represents the smoothness cost for CHOMP, for a single joint.
Definition at line 49 of file chomp_cost.h.
| chomp::ChompCost::ChompCost |
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const ChompTrajectory & |
trajectory, |
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int |
joint_number, |
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const std::vector< double > & |
derivative_costs, |
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double |
ridge_factor = 0.0 |
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) |
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| chomp::ChompCost::~ChompCost |
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virtual |
| double chomp::ChompCost::getCost |
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Eigen::MatrixXd::ColXpr |
joint_trajectory | ) |
const |
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inline |
template<typename Derived >
| void chomp::ChompCost::getDerivative |
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Eigen::MatrixXd::ColXpr |
joint_trajectory, |
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Eigen::MatrixBase< Derived > & |
derivative |
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) |
| const |
| Eigen::MatrixXd chomp::ChompCost::getDiffMatrix |
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int |
size, |
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const double * |
diff_rule |
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) |
| const |
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private |
| double chomp::ChompCost::getMaxQuadCostInvValue |
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const |
| const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCost |
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const |
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inline |
| const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCostInverse |
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const |
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inline |
| void chomp::ChompCost::scale |
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double |
scale | ) |
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| Eigen::MatrixXd chomp::ChompCost::quad_cost_ |
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private |
| Eigen::MatrixXd chomp::ChompCost::quad_cost_full_ |
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private |
| Eigen::MatrixXd chomp::ChompCost::quad_cost_inv_ |
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private |
The documentation for this class was generated from the following files: