Costs

Costs of the trajectory optimization problem. More...

Classes
class	towr::NodeCost
	Assigns a cost to node values. More...
class	towr::SoftConstraint
	Converts a constraint to a cost by weighing the quadratic violations. More...

Detailed Description

Costs of the trajectory optimization problem.

These the the cost terms that prioritize certain solutions to the legged locomotion problem.

Folder: include/towr/costs