#include <InequalityPenaltyFunction.h>

Inheritance diagram for gtsam::SmoothRampPoly2:

Public Types
typedef InequalityPenaltyFunction	Base

typedef std::shared_ptr< This >	shared_ptr

typedef SmoothRampPoly2	This

Public Types inherited from gtsam::InequalityPenaltyFunction
typedef std::shared_ptr< InequalityPenaltyFunction >	shared_ptr

typedef std::function< double(const double &x, OptionalJacobian< 1, 1 > H)>	UnaryScalarFunc

Public Member Functions
virtual double	operator() (const double &x, OptionalJacobian< 1, 1 > H={}) const override

	SmoothRampPoly2 (const double epsilon=1)

Public Member Functions inherited from gtsam::InequalityPenaltyFunction
virtual UnaryScalarFunc	function () const

	InequalityPenaltyFunction ()

virtual	~InequalityPenaltyFunction ()

Protected Attributes
double	a_

double	epsilon_

Detailed Description

Ramp function approximated with a polynomial of degree 2 in [0, epsilon]. The coefficients are computed as a = 1 / (2 * epsilon) Function f(x) = 0 for x <= 0 a * x^2 for 0 < x < epsilon x - epsilon/2 for x >= epsilon

Definition at line 75 of file InequalityPenaltyFunction.h.