Class ChompCost

Defined in File chomp_cost.h

Class Documentation

class ChompCost

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

Public Functions

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

inline const Eigen::MatrixXd &getQuadraticCostInverse() const

inline const Eigen::MatrixXd &getQuadraticCost() const

inline double getCost(const Eigen::MatrixXd::ColXpr &joint_trajectory) const

double getMaxQuadCostInvValue() const

void scale(double scale)