Trajectory cost function defined by state evaluation at parameter. More...

#include <roboptim/trajectory/stable-point-state-function.hh>

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

Public Types
typedef T	trajectory_t
	Trajectory type.
Public Member Functions
	StablePointStateFunction (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1)
	Constructor.
virtual	~StablePointStateFunction ()
size_type	order () const
Static Public Member Functions
template<typename F , typename CLIST >
static void	addToProblem (const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, typename Function::interval_t bounds, unsigned nConstraints)
Protected Member Functions
void	impl_compute (result_ref, const_argument_ref) const
void	impl_gradient (gradient_ref, const_argument_ref, size_type) const

Detailed Description

Trajectory cost function defined by state evaluation at parameter.

The state along a trajectory is defined as the vector containing the configuration and derivatives up to order $r$ of the configuration.

$\textbf{Cost}(\Gamma) = cost \left({\Gamma(t)}, {\dot{\Gamma}(t)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t) \right)$

where

$\textbf{Cost}$ is the trajectory cost,
is the state cost,
is the parameter along the trajectory where the cost is evaluated (fixed at construction),
is called the order of the state.

Template Parameters:

T	trajectory type

Member Typedef Documentation

template<typename T >

template<typename T >

roboptim::trajectory::StablePointStateFunction< T >::StablePointStateFunction	(	const trajectory_t &	gamma,
		boost::shared_ptr< DerivableFunction >	cost,
		const StableTimePoint	tpt,
		size_type	order = `1`
	)

Constructor.

Parameters:

gamma	Trajectory $\Gamma$ along which the state is evaluated.
cost	state cost: .
tpt	parameter where the state is evaluated.
order	order of derivation.

template<typename T >

roboptim::trajectory::StablePointStateFunction< T >::~StablePointStateFunction ( ) [virtual]

template<typename T >

template<typename F , typename CLIST >

static void roboptim::trajectory::StablePointStateFunction< T >::addToProblem	(	const trajectory_t &	trajectory,
		boost::shared_ptr< DerivableFunction >	function,
		unsigned	order,
		Problem< F, CLIST > &	problem,
		typename Function::interval_t	bounds,
		unsigned	nConstraints
	)		`[inline, static]`

template<typename T >

void roboptim::trajectory::StablePointStateFunction< T >::impl_compute	(	result_ref	res,
		const_argument_ref	p
	)		const `[protected]`

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

template<typename T >

void roboptim::trajectory::StablePointStateFunction< T >::impl_gradient	(	gradient_ref	grad,
		const_argument_ref	p,
		size_type	i
	)		const `[protected]`

ROBOPTIM_DO_NOT_CHECK_ALLOCATION

template<typename T >

StablePointStateFunction< T >::size_type roboptim::trajectory::StablePointStateFunction< T >::order ( ) const