node_cost.h
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #ifndef TOWR_COSTS_NODE_COST_H_
00031 #define TOWR_COSTS_NODE_COST_H_
00032 
00033 #include <memory>
00034 #include <string>
00035 
00036 #include <ifopt/cost_term.h>
00037 
00038 #include <towr/variables/nodes_variables.h>
00039 
00040 
00041 namespace towr {
00042 
00048 class NodeCost : public ifopt::CostTerm {
00049 public:
00056   NodeCost (const std::string& nodes_id, Dx deriv, int dim, double weight);
00057   virtual ~NodeCost () = default;
00058 
00059   void InitVariableDependedQuantities(const VariablesPtr& x) override;
00060 
00061   double GetCost () const override;
00062 
00063 private:
00064   std::shared_ptr<NodesVariables> nodes_;
00065 
00066   std::string node_id_;
00067   Dx deriv_;
00068   int dim_;
00069   double weight_;
00070 
00071   void FillJacobianBlock(std::string var_set, Jacobian&) const override;
00072 };
00073 
00074 } /* namespace towr */
00075 
00076 #endif /* TOWR_COSTS_NODE_COST_H_ */


towr
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 15 2019 02:42:32