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... | |

Costs of the trajectory optimization problem.

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

Folder: include/towr/costs