00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef CHOMP_COST_H_ 00038 #define CHOMP_COST_H_ 00039 00040 #include <eigen3/Eigen/Core> 00041 #include <chomp_motion_planner/chomp_trajectory.h> 00042 #include <vector> 00043 00044 namespace chomp 00045 { 00046 00050 class ChompCost 00051 { 00052 public: 00053 ChompCost(const ChompTrajectory& trajectory, int joint_number, const std::vector<double>& derivative_costs, double ridge_factor=0.0); 00054 virtual ~ChompCost(); 00055 00056 template<typename Derived> 00057 void getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const; 00058 00059 const Eigen::MatrixXd& getQuadraticCostInverse() const; 00060 00061 const Eigen::MatrixXd& getQuadraticCost() const; 00062 00063 double getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const; 00064 00065 double getMaxQuadCostInvValue() const; 00066 00067 void scale(double scale); 00068 00069 private: 00070 Eigen::MatrixXd quad_cost_full_; 00071 Eigen::MatrixXd quad_cost_; 00072 //Eigen::VectorXd linear_cost_; 00073 Eigen::MatrixXd quad_cost_inv_; 00074 00075 Eigen::MatrixXd getDiffMatrix(int size, const double* diff_rule) const; 00076 }; 00077 00078 template<typename Derived> 00079 void ChompCost::getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const 00080 { 00081 derivative = (quad_cost_full_ * (2.0 * joint_trajectory)); 00082 } 00083 00084 inline const Eigen::MatrixXd& ChompCost::getQuadraticCostInverse() const 00085 { 00086 return quad_cost_inv_; 00087 } 00088 00089 inline const Eigen::MatrixXd& ChompCost::getQuadraticCost() const 00090 { 00091 return quad_cost_; 00092 } 00093 00094 inline double ChompCost::getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const 00095 { 00096 return joint_trajectory.dot(quad_cost_full_ * joint_trajectory); 00097 } 00098 00099 } // namespace chomp 00100 00101 #endif /* CHOMP_COST_H_ */