towr::NodeCost Class Reference

Assigns a cost to node values. More...

#include <node_cost.h>

Inheritance diagram for towr::NodeCost:

Public Member Functions
double	GetCost () const override
void	InitVariableDependedQuantities (const VariablesPtr &x) override
	NodeCost (const std::string &nodes_id, Dx deriv, int dim, double weight)
	Constructs a cost term for the optimization problem. More...
virtual	~NodeCost ()=default
Public Member Functions inherited from ifopt::CostTerm
	CostTerm (const std::string &name)
VecBound	GetBounds () const final
VectorXd	GetValues () const final
void	Print (double tol, int &index) const final
virtual	~CostTerm ()=default
Public Member Functions inherited from ifopt::ConstraintSet
	ConstraintSet (int n_constraints, const std::string &name)
Jacobian	GetJacobian () const final
void	LinkWithVariables (const VariablesPtr &x)
virtual	~ConstraintSet ()=default
Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)
std::string	GetName () const
int	GetRows () const
void	SetRows (int num_rows)
virtual	~Component ()=default

Private Member Functions
void	FillJacobianBlock (std::string var_set, Jacobian &) const override

Private Attributes
Dx	deriv_
int	dim_
std::string	node_id_
std::shared_ptr< NodesVariables >	nodes_
double	weight_

Additional Inherited Members
Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSet >	Ptr
typedef Composite::Ptr	VariablesPtr
Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	Jacobian
typedef std::shared_ptr< Component >	Ptr
typedef std::vector< Bounds >	VecBound
typedef Eigen::VectorXd	VectorXd
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater
Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const

Detailed Description

Assigns a cost to node values.

Definition at line 48 of file node_cost.h.

Constructor & Destructor Documentation

towr::NodeCost::NodeCost	(	const std::string &	nodes_id,
		Dx	deriv,
		int	dim,
		double	weight
	)

Constructs a cost term for the optimization problem.

Parameters

nodes_id	The name of the node variables.
deriv	The node derivative (pos, vel) which should be penalized.
dim	The node dimension which should be penalized.

Definition at line 36 of file node_cost.cc.

virtual towr::NodeCost::~NodeCost ( )

virtualdefault

Member Function Documentation

void towr::NodeCost::FillJacobianBlock ( std::string  var_set, Jacobian &  jac  ) const

overrideprivatevirtual

Implements ifopt::ConstraintSet.

Definition at line 66 of file node_cost.cc.

double towr::NodeCost::GetCost ( ) const

overridevirtual

Implements ifopt::CostTerm.

Definition at line 54 of file node_cost.cc.

void towr::NodeCost::InitVariableDependedQuantities ( const VariablesPtr &  x )

override

Definition at line 48 of file node_cost.cc.

Member Data Documentation

Dx towr::NodeCost::deriv_

private

Definition at line 67 of file node_cost.h.

int towr::NodeCost::dim_

private

Definition at line 68 of file node_cost.h.

std::string towr::NodeCost::node_id_

private

Definition at line 66 of file node_cost.h.

std::shared_ptr<NodesVariables> towr::NodeCost::nodes_

private

Definition at line 64 of file node_cost.h.

double towr::NodeCost::weight_

private

Definition at line 69 of file node_cost.h.

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

• node_cost.h
• node_cost.cc