Assigns a cost to node values. More...
#include <node_cost.h>
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. | |
| virtual | ~NodeCost () |
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< NodesVariables > | nodes_ |
| double | weight_ |
Assigns a cost to node values.
Definition at line 48 of file node_cost.h.
| towr::NodeCost::NodeCost | ( | const std::string & | nodes_id, |
| Dx | deriv, | ||
| int | dim, | ||
| double | weight | ||
| ) |
Constructs a cost term for the optimization problem.
| nodes_id | The name of the node variables. |
| deriv | The node derivative (pos, vel) which should be penalized. |
| dim | The node dimension which should be penalized. |
Definition at line 36 of file node_cost.cc.
| virtual towr::NodeCost::~NodeCost | ( | ) | [virtual] |
| void towr::NodeCost::FillJacobianBlock | ( | std::string | var_set, |
| Jacobian & | jac | ||
| ) | const [override, private] |
Definition at line 66 of file node_cost.cc.
| double towr::NodeCost::GetCost | ( | ) | const [override] |
Definition at line 54 of file node_cost.cc.
| void towr::NodeCost::InitVariableDependedQuantities | ( | const VariablesPtr & | x | ) | [override] |
Definition at line 48 of file node_cost.cc.
Dx towr::NodeCost::deriv_ [private] |
Definition at line 67 of file node_cost.h.
int towr::NodeCost::dim_ [private] |
Definition at line 68 of file node_cost.h.
std::string towr::NodeCost::node_id_ [private] |
Definition at line 66 of file node_cost.h.
std::shared_ptr<NodesVariables> towr::NodeCost::nodes_ [private] |
Definition at line 64 of file node_cost.h.
double towr::NodeCost::weight_ [private] |
Definition at line 69 of file node_cost.h.