node_cost.cc
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29 
30 #include <towr/costs/node_cost.h>
31 
32 #include <cmath>
33 
34 namespace towr {
35 
36 NodeCost::NodeCost (const std::string& nodes_id, Dx deriv, int dim, double weight)
37  : CostTerm(nodes_id
38  +"-dx_"+std::to_string(deriv)
39  +"-dim_"+std::to_string(dim))
40 {
41  node_id_ = nodes_id;
42  deriv_ = deriv;
43  dim_ = dim;
44  weight_ = weight;
45 }
46 
47 void
49 {
50  nodes_ = x->GetComponent<NodesVariables>(node_id_);
51 }
52 
53 double
55 {
56  double cost;
57  for (auto n : nodes_->GetNodes()) {
58  double val = n.at(deriv_)(dim_);
59  cost += weight_*std::pow(val,2);
60  }
61 
62  return cost;
63 }
64 
65 void
66 NodeCost::FillJacobianBlock (std::string var_set, Jacobian& jac) const
67 {
68  if (var_set == node_id_) {
69  for (int i=0; i<nodes_->GetRows(); ++i)
70  for (auto nvi : nodes_->GetNodeValuesInfo(i))
71  if (nvi.deriv_==deriv_ && nvi.dim_==dim_) {
72  double val = nodes_->GetNodes().at(nvi.id_).at(deriv_)(dim_);
73  jac.coeffRef(0, i) += weight_*2.0*val;
74  }
75  }
76 }
77 
78 } /* namespace towr */
79 
Composite::Ptr VariablesPtr
void InitVariableDependedQuantities(const VariablesPtr &x) override
Definition: node_cost.cc:48
std::string node_id_
Definition: node_cost.h:66
Position and velocity of nodes used to generate a Hermite spline.
double GetCost() const override
Definition: node_cost.cc:54
NodeCost(const std::string &nodes_id, Dx deriv, int dim, double weight)
Constructs a cost term for the optimization problem.
Definition: node_cost.cc:36
Eigen::SparseMatrix< double, Eigen::RowMajor > Jacobian
std::shared_ptr< NodesVariables > nodes_
Definition: node_cost.h:64
void FillJacobianBlock(std::string var_set, Jacobian &) const override
Definition: node_cost.cc:66
double weight_
Definition: node_cost.h:69
Dx
< the values or derivative. For motions e.g. position, velocity, ...
Definition: state.h:41


towr
Author(s): Alexander W. Winkler
autogenerated on Sat Apr 13 2019 02:28:00