Program Listing for File chomp_cost.h
↰ Return to documentation for file (include/chomp_motion_planner/chomp_cost.h
)
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Mrinal Kalakrishnan */
#pragma once
#include <chomp_motion_planner/chomp_trajectory.h>
#include <eigen3/Eigen/Core>
#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(const Eigen::MatrixXd::ColXpr& joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const;
const Eigen::MatrixXd& getQuadraticCostInverse() const;
const Eigen::MatrixXd& getQuadraticCost() const;
double getCost(const 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(const 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(const Eigen::MatrixXd::ColXpr& joint_trajectory) const
{
return joint_trajectory.dot(quad_cost_full_ * joint_trajectory);
}
} // namespace chomp