gtsam::SmoothRampPoly3 Class Reference

#include <InequalityPenaltyFunction.h>

Inheritance diagram for gtsam::SmoothRampPoly3:

Public Types
typedef InequalityPenaltyFunction	Base
typedef std::shared_ptr< This >	shared_ptr
typedef SmoothRampPoly3	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
	SmoothRampPoly3 (const double epsilon=1)
Public Member Functions inherited from gtsam::InequalityPenaltyFunction
virtual UnaryScalarFunc	function () const
	InequalityPenaltyFunction ()
virtual	~InequalityPenaltyFunction ()

Protected Attributes
double	a_
double	b_
double	epsilon_

Detailed Description

Ramp function approximated with a polynomial of degree 3 in [0, epsilon]. The coefficients are computed as a = -1 / epsilon^2 b = 2 / epsilon Function f(x) = 0 for x <= 0 a * x^3 + b * x^2 for 0 < x < epsilon x for x >= epsilon

Definition at line 104 of file InequalityPenaltyFunction.h.

Member Typedef Documentation

Base

typedef InequalityPenaltyFunction gtsam::SmoothRampPoly3::Base

Definition at line 106 of file InequalityPenaltyFunction.h.

shared_ptr

typedef std::shared_ptr<This> gtsam::SmoothRampPoly3::shared_ptr

Definition at line 108 of file InequalityPenaltyFunction.h.

This

typedef SmoothRampPoly3 gtsam::SmoothRampPoly3::This

Definition at line 107 of file InequalityPenaltyFunction.h.

Constructor & Destructor Documentation

SmoothRampPoly3()

gtsam::SmoothRampPoly3::SmoothRampPoly3 ( const double  epsilon = 1 )

inline

Constructor.

Parameters

epsilon

parameter for adjusting the smoothness of the function.

Definition at line 119 of file InequalityPenaltyFunction.h.

Member Function Documentation

operator()()

double gtsam::SmoothRampPoly3::operator() ( const double &  x, OptionalJacobian< 1, 1 >  H = {}  ) const

overridevirtual

Implements gtsam::InequalityPenaltyFunction.

Definition at line 68 of file InequalityPenaltyFunction.cpp.

Member Data Documentation

a_

double gtsam::SmoothRampPoly3::a_

protected

Definition at line 112 of file InequalityPenaltyFunction.h.

b_

double gtsam::SmoothRampPoly3::b_

protected

Definition at line 113 of file InequalityPenaltyFunction.h.

epsilon_

double gtsam::SmoothRampPoly3::epsilon_

protected

Definition at line 111 of file InequalityPenaltyFunction.h.

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

• InequalityPenaltyFunction.h
• InequalityPenaltyFunction.cpp