chomp::ChompCost Class Reference

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

#include <chomp_cost.h>

List of all members.

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_

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Detailed Description

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

Definition at line 50 of file chomp_cost.h.

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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 47 of file chomp_cost.cpp.

chomp::ChompCost::~ChompCost

(

)

[virtual]

Definition at line 107 of file chomp_cost.cpp.

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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 76 of file chomp_cost.cpp.

double chomp::ChompCost::getMaxQuadCostInvValue

(

)

const

Definition at line 94 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 99 of file chomp_cost.cpp.

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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.

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

• chomp_cost.h
• chomp_cost.cpp