node_cost.h
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29 
30 #ifndef TOWR_COSTS_NODE_COST_H_
31 #define TOWR_COSTS_NODE_COST_H_
32 
33 #include <memory>
34 #include <string>
35 
36 #include <ifopt/cost_term.h>
37 
38 #include <towr/variables/nodes.h>
39 
40 
41 namespace towr {
42 
46 class NodeCost : public ifopt::CostTerm {
47 public:
48 
55  NodeCost (const std::string& nodes_id, Dx deriv, int dim);
56  virtual ~NodeCost () = default;
57 
58  virtual void InitVariableDependedQuantities(const VariablesPtr& x) override;
59 
60  double GetCost () const override;
61 
62 private:
63  std::shared_ptr<Nodes> nodes_;
64 
65  std::string node_id_;
67  int dim_;
68 
69  void FillJacobianBlock(std::string var_set, Jacobian&) const override;
70 };
71 
72 } /* namespace towr */
73 
74 #endif /* TOWR_COSTS_NODE_COST_H_ */
virtual void InitVariableDependedQuantities(const VariablesPtr &x) override
Definition: node_cost.cc:45
std::string node_id_
Definition: node_cost.h:65
virtual ~NodeCost()=default
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
std::shared_ptr< Nodes > nodes_
Definition: node_cost.h:63
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Definition: node_cost.cc:63
Assigns a cost to node values.
Definition: node_cost.h:46
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41


towr_core
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 7 2018 02:15:57