Public Member Functions | Private Member Functions | Private Attributes | List of all members
towr::NodeCost Class Reference

Assigns a cost to node values. More...

#include <node_cost.h>

Inheritance diagram for towr::NodeCost:
Inheritance graph

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< NodesVariablesnodes_
double weight_

Additional Inherited Members

- Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSetPtr
typedef Composite::Ptr VariablesPtr
- Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
typedef std::shared_ptr< ComponentPtr
typedef std::vector< BoundsVecBound
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.

nodes_idThe name of the node variables.
derivThe node derivative (pos, vel) which should be penalized.
dimThe node dimension which should be penalized.

Definition at line 36 of file

virtual towr::NodeCost::~NodeCost ( )

Member Function Documentation

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

Implements ifopt::ConstraintSet.

Definition at line 66 of file

double towr::NodeCost::GetCost ( ) const

Implements ifopt::CostTerm.

Definition at line 54 of file

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

Definition at line 48 of file

Member Data Documentation

Dx towr::NodeCost::deriv_

Definition at line 67 of file node_cost.h.

int towr::NodeCost::dim_

Definition at line 68 of file node_cost.h.

std::string towr::NodeCost::node_id_

Definition at line 66 of file node_cost.h.

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

Definition at line 64 of file node_cost.h.

double towr::NodeCost::weight_

Definition at line 69 of file node_cost.h.

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

Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00