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 M >
static void	addToProblem (const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< M > &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,
\(cost\) is the state cost,
\(t\) is the parameter along the trajectory where the cost is evaluated (fixed at construction),
\(r\) 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: \(cost\).
tpt	parameter \(t\) where the state is evaluated.
order	order \(r\) of derivation.

template<typename T >

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

template<typename T >

template<typename M >

static void roboptim::trajectory::StablePointStateFunction< T >::addToProblem	(	const trajectory_t &	trajectory,
		boost::shared_ptr< DerivableFunction >	function,
		unsigned	order,
		Problem< M > &	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