Assigns a cost to node values. More...

#include <node_cost.h>

Inheritance diagram for towr::NodeCost:

Public Member Functions
double	GetCost () const override

virtual void	InitVariableDependedQuantities (const VariablesPtr &x) override

	NodeCost (const std::string &nodes_id, Dx deriv, int dim)
	Constructs a cost term for the optimization problem. More...

virtual	~NodeCost ()=default

Private Member Functions
void	FillJacobianBlock (std::string var_set, Jacobian &) const override

Detailed Description

Assigns a cost to node values.

Definition at line 46 of file node_cost.h.

Constructor & Destructor Documentation

Constructs a cost term for the optimization problem.

Parameters

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 ( )

virtualdefault

void towr::NodeCost::FillJacobianBlock	(	std::string	var_set,
		Jacobian &	jac
	)		const

overrideprivate

Definition at line 63 of file node_cost.cc.

double towr::NodeCost::GetCost ( ) const

override

Definition at line 51 of file node_cost.cc.

void towr::NodeCost::InitVariableDependedQuantities ( const VariablesPtr & x )

overridevirtual

Definition at line 45 of file node_cost.cc.

Dx towr::NodeCost::deriv_

private

Definition at line 66 of file node_cost.h.

int towr::NodeCost::dim_

private

Definition at line 67 of file node_cost.h.

std::string towr::NodeCost::node_id_

private

Definition at line 65 of file node_cost.h.

std::shared_ptr<Nodes> towr::NodeCost::nodes_

private

Definition at line 63 of file node_cost.h.

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