All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Groups Pages
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> () 
)

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