Public Member Functions | Private Member Functions | Private Attributes | List of all members
chomp::ChompCost Class Reference

Represents the smoothness cost for CHOMP, for a single joint. More...

#include <chomp_cost.h>

Public Member Functions

 ChompCost (const ChompTrajectory &trajectory, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0)
 
double getCost (Eigen::MatrixXd::ColXpr joint_trajectory) const
 
template<typename Derived >
void getDerivative (Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase< Derived > &derivative) const
 
double getMaxQuadCostInvValue () const
 
const Eigen::MatrixXd & getQuadraticCost () const
 
const Eigen::MatrixXd & getQuadraticCostInverse () const
 
void scale (double scale)
 
virtual ~ChompCost ()
 

Private Member Functions

Eigen::MatrixXd getDiffMatrix (int size, const double *diff_rule) const
 

Private Attributes

Eigen::MatrixXd quad_cost_
 
Eigen::MatrixXd quad_cost_full_
 
Eigen::MatrixXd quad_cost_inv_
 

Detailed Description

Represents the smoothness cost for CHOMP, for a single joint.

Definition at line 49 of file chomp_cost.h.

Constructor & Destructor Documentation

chomp::ChompCost::ChompCost ( const ChompTrajectory trajectory,
int  joint_number,
const std::vector< double > &  derivative_costs,
double  ridge_factor = 0.0 
)

Definition at line 46 of file chomp_cost.cpp.

chomp::ChompCost::~ChompCost ( )
virtual

Definition at line 104 of file chomp_cost.cpp.

Member Function Documentation

double chomp::ChompCost::getCost ( Eigen::MatrixXd::ColXpr  joint_trajectory) const
inline

Definition at line 94 of file chomp_cost.h.

template<typename Derived >
void chomp::ChompCost::getDerivative ( Eigen::MatrixXd::ColXpr  joint_trajectory,
Eigen::MatrixBase< Derived > &  derivative 
) const

Definition at line 79 of file chomp_cost.h.

Eigen::MatrixXd chomp::ChompCost::getDiffMatrix ( int  size,
const double *  diff_rule 
) const
private

Definition at line 73 of file chomp_cost.cpp.

double chomp::ChompCost::getMaxQuadCostInvValue ( ) const

Definition at line 91 of file chomp_cost.cpp.

const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCost ( ) const
inline

Definition at line 89 of file chomp_cost.h.

const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCostInverse ( ) const
inline

Definition at line 84 of file chomp_cost.h.

void chomp::ChompCost::scale ( double  scale)

Definition at line 96 of file chomp_cost.cpp.

Member Data Documentation

Eigen::MatrixXd chomp::ChompCost::quad_cost_
private

Definition at line 71 of file chomp_cost.h.

Eigen::MatrixXd chomp::ChompCost::quad_cost_full_
private

Definition at line 70 of file chomp_cost.h.

Eigen::MatrixXd chomp::ChompCost::quad_cost_inv_
private

Definition at line 73 of file chomp_cost.h.


The documentation for this class was generated from the following files:


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jul 10 2019 04:03:20