roboptim::trajectory::AnthropomorphicCostFunction< T > Class Template Reference

Cost function from ``An optimal control model unifying holonomic and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots). More...

#include <roboptim/trajectory/anthropomorphic-cost-function.hh>

Inheritance diagram for roboptim::trajectory::AnthropomorphicCostFunction< T >:

Public Member Functions
	AnthropomorphicCostFunction (const T &trajectory, const typename boost::optional< vector_t > alpha=typename boost::optional< vector_t >(), const typename boost::optional< value_type > ksi1=typename boost::optional< value_type >(), const typename boost::optional< value_type > ksi2=typename boost::optional< value_type >())
	~AnthropomorphicCostFunction ()

Static Public Member Functions
static vector_t	defaultAlpha ()
static value_type	defaultKsi1 ()
static value_type	defaultKsi2 ()

Protected Member Functions
void	impl_compute (result_ref res, const_argument_ref p) const
void	impl_gradient (gradient_ref grad, const_argument_ref p, size_type i) const

Detailed Description

template<typename T>
class roboptim::trajectory::AnthropomorphicCostFunction< T >

Cost function from ``An optimal control model unifying holonomic and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond, Eiichi Yoshida (2008 8th IEEE-RAS Interational Conference on Humanoid Robots).

Constructor & Destructor Documentation

template<typename T >

roboptim::trajectory::AnthropomorphicCostFunction< T >::AnthropomorphicCostFunction	(	const T &	trajectory,
		const typename boost::optional< vector_t >	alpha = typename boost::optional<vector_t> (),
		const typename boost::optional< value_type >	ksi1 = typename boost::optional<value_type> (),
		const typename boost::optional< value_type >	ksi2 = typename boost::optional<value_type> ()
	)

template<typename T >

roboptim::trajectory::AnthropomorphicCostFunction< T >::~AnthropomorphicCostFunction

(

)

Member Function Documentation

template<typename T >

static vector_t roboptim::trajectory::AnthropomorphicCostFunction< T >::defaultAlpha ( )

inlinestatic

template<typename T >

static value_type roboptim::trajectory::AnthropomorphicCostFunction< T >::defaultKsi1 ( )

inlinestatic

template<typename T >

static value_type roboptim::trajectory::AnthropomorphicCostFunction< T >::defaultKsi2 ( )

inlinestatic

template<typename T >

void roboptim::trajectory::AnthropomorphicCostFunction< T >::impl_compute ( result_ref  res, const_argument_ref  p  ) const

protected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

template<typename T >

void roboptim::trajectory::AnthropomorphicCostFunction< T >::impl_gradient ( gradient_ref  grad, const_argument_ref  p, size_type  i  ) const

protected

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

ROBOPTIM_DO_NOT_CHECK_ALLOCATION