node_cost.cc
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29 
30 #include <towr/costs/node_cost.h>
31 
32 #include <cmath>
33 
34 namespace towr {
35 
36 NodeCost::NodeCost (const std::string& nodes_id, Dx deriv, int dim)
37  : CostTerm("Node Cost")
38 {
39  node_id_ = nodes_id;
40  deriv_ = deriv;
41  dim_ = dim;
42 }
43 
44 void
46 {
47  nodes_ = x->GetComponent<Nodes>(node_id_);
48 }
49 
50 double
52 {
53  double cost;
54  for (auto n : nodes_->GetNodes()) {
55  double val = n.at(deriv_)(dim_);
56  cost += std::pow(val,2);
57  }
58 
59  return cost;
60 }
61 
62 void
63 NodeCost::FillJacobianBlock (std::string var_set, Jacobian& jac) const
64 {
65  if (var_set == node_id_) {
66 
67  for (int i=0; i<nodes_->GetRows(); ++i)
68  for (auto idx : nodes_->GetNodeInfoAtOptIndex(i))
69  if (idx.node_deriv_==deriv_ && idx.node_dim_==dim_) {
70  double val = nodes_->GetNodes().at(idx.node_id_).at(deriv_)(dim_);
71  jac.coeffRef(0, i) += 2.0*val;
72  }
73  }
74 }
75 
76 } /* namespace towr */
77 
virtual void InitVariableDependedQuantities(const VariablesPtr &x) override
Definition: node_cost.cc:45
std::string node_id_
Definition: node_cost.h:65
NodeCost(const std::string &nodes_id, Dx deriv, int dim)
Constructs a cost term for the optimization problem.
Definition: node_cost.cc:36
double GetCost() const override
Definition: node_cost.cc:51
Position and velocity of nodes used to generate a Hermite spline.
Definition: nodes.h:52
std::shared_ptr< Nodes > nodes_
Definition: node_cost.h:63
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Definition: node_cost.cc:63
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sun Apr 8 2018 02:18:53