chomp_cost.h

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#ifndef CHOMP_COST_H_
#define CHOMP_COST_H_

#include <Eigen/Core>
#include <chomp_motion_planner/chomp_trajectory.h>
#include <vector>

namespace chomp
{

class ChompCost
{
public:
  ChompCost(const ChompTrajectory& trajectory, int joint_number, const std::vector<double>& derivative_costs, double ridge_factor=0.0);
  virtual ~ChompCost();

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

  const Eigen::MatrixXd& getQuadraticCostInverse() const;

  const Eigen::MatrixXd& getQuadraticCost() const;

  double getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const;

  double getMaxQuadCostInvValue() const;

  void scale(double scale);

private:
  Eigen::MatrixXd quad_cost_full_;
  Eigen::MatrixXd quad_cost_;
  //Eigen::VectorXd linear_cost_;
  Eigen::MatrixXd quad_cost_inv_;

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

};

template<typename Derived>
void ChompCost::getDerivative(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const
{
  derivative = (quad_cost_full_ * (2.0 * joint_trajectory));
}

inline const Eigen::MatrixXd& ChompCost::getQuadraticCostInverse() const
{
  return quad_cost_inv_;
}

inline const Eigen::MatrixXd& ChompCost::getQuadraticCost() const
{
  return quad_cost_;
}

inline double ChompCost::getCost(Eigen::MatrixXd::ColXpr joint_trajectory) const
{
  return joint_trajectory.dot(quad_cost_full_ * joint_trajectory);
}

} // namespace chomp

#endif /* CHOMP_COST_H_ */

---

chomp_motion_planner
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Jan 11 09:52:40 2013