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

Trajectory cost function defined by sum of state evaluations at parameters. More...

#include <roboptim/trajectory/trajectory-sum-cost.hh>

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

List of all members.

Public Types
typedef DerivableFunction	parent_t
	Parent type.
typedef T	trajectory_t
	Trajectory type.
typedef parent_t::vector_t	vector_t
	Import vector type.
typedef parent_t::gradient_t	gradient_t
	Import gradient type.
typedef parent_t::discreteInterval_t	discreteInterval_t
	Import discrete interval type.
Public Member Functions
	TrajectorySumCost (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const discreteStableTimePointInterval_t &interval, size_type order=1)
	Constructor.
virtual	~TrajectorySumCost ()
size_type	order () const
Protected Member Functions
void	impl_compute (result_ref, const_argument_ref) const
void	impl_gradient (gradient_ref, const_argument_ref, size_type) const
Discrete interval of stable time points.
typedef boost::tuple < StableTimePoint, StableTimePoint, StableTimePoint >	discreteStableTimePointInterval_t
	Types representing a discrete interval of stable time points.
static discreteStableTimePointInterval_t	makeDiscreteInterval (StableTimePoint min, StableTimePoint max, StableTimePoint step)
	Construct a discrete interval.
static discreteStableTimePointInterval_t	makeDiscreteInterval (interval_t interval, StableTimePoint step)
	Construct a discrete interval.
static StableTimePoint	getLowerBound (const discreteStableTimePointInterval_t &interval)
	Get the lower bound of a discrete interval.
static StableTimePoint	getUpperBound (const discreteStableTimePointInterval_t &interval)
	Get the upper bound of a discrete interval.
static StableTimePoint	getStep (const discreteStableTimePointInterval_t &interval)
	Get the upper step of a discrete interval.

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Detailed Description

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

Trajectory cost function defined by sum of state evaluations at parameters.

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

\[ \textbf{Cost}(\Gamma) = \sum_{i=1}{n} cost \left({\Gamma(t_i)}, {\dot{\Gamma}(t_i)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t_i) \right) \]

where

• \(\textbf{Cost}\) is the trajectory cost,
• \(cost\) is the state cost,
• \(t_i\ \ i=1\cdots n\) are the parameters along the trajectory where the cost is evaluated,
• \(r\) is called the order of the state.

Template Parameters:

T	trajectory type

---

Member Typedef Documentation

template<typename T >

typedef parent_t::discreteInterval_t roboptim::trajectory::TrajectorySumCost< T >::discreteInterval_t

Import discrete interval type.

template<typename T >

typedef boost::tuple<StableTimePoint, StableTimePoint, StableTimePoint> roboptim::trajectory::TrajectorySumCost< T >::discreteStableTimePointInterval_t

Types representing a discrete interval of stable time points.

A discrete interval is a triplet of values:

• lower bound,
• upper bound,
• step.

template<typename T >

typedef parent_t::gradient_t roboptim::trajectory::TrajectorySumCost< T >::gradient_t

Import gradient type.

template<typename T >

typedef DerivableFunction roboptim::trajectory::TrajectorySumCost< T >::parent_t

Parent type.

template<typename T >

typedef T roboptim::trajectory::TrajectorySumCost< T >::trajectory_t

Trajectory type.

template<typename T >

typedef parent_t::vector_t roboptim::trajectory::TrajectorySumCost< T >::vector_t

Import vector type.

---

Constructor & Destructor Documentation

template<typename T >

roboptim::trajectory::TrajectorySumCost< T >::TrajectorySumCost	(	const trajectory_t &	gamma,
		boost::shared_ptr< DerivableFunction >	cost,
		const discreteStableTimePointInterval_t &	interval,
		size_type	order = 1
	)

Constructor.

Parameters:

gamma	Trajectory \(\Gamma\) along which the state is evaluated.
cost	state cost: \(cost\).
interval	Stable time points list where cost will be evaluated.
order	order \(r\) of derivation.

template<typename T >

roboptim::trajectory::TrajectorySumCost< T >::~TrajectorySumCost

(

)

[virtual]

---

Member Function Documentation

template<typename T >

static StableTimePoint roboptim::trajectory::TrajectorySumCost< T >::getLowerBound

(

const discreteStableTimePointInterval_t &

interval

)

[inline, static]

Get the lower bound of a discrete interval.

Parameters:

interval

accessed discrete interval

Returns:

lower bound of the discrete interval

template<typename T >

static StableTimePoint roboptim::trajectory::TrajectorySumCost< T >::getStep

(

const discreteStableTimePointInterval_t &

interval

)

[inline, static]

Get the upper step of a discrete interval.

Parameters:

interval

accessed discrete interval

Returns:

upper step of the discrete interval

template<typename T >

static StableTimePoint roboptim::trajectory::TrajectorySumCost< T >::getUpperBound

(

const discreteStableTimePointInterval_t &

interval

)

[inline, static]

Get the upper bound of a discrete interval.

Parameters:

interval

accessed discrete interval

Returns:

upper bound of the discrete interval

template<typename T >

void roboptim::trajectory::TrajectorySumCost< 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::TrajectorySumCost< 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

template<typename T >

static discreteStableTimePointInterval_t roboptim::trajectory::TrajectorySumCost< T >::makeDiscreteInterval	(	StableTimePoint	min,
		StableTimePoint	max,
		StableTimePoint	step
	)		[inline, static]

Construct a discrete interval.

Parameters:

min	miminum value of the interval
max	maxinum value of the interval
step	discretization step

template<typename T >

static discreteStableTimePointInterval_t roboptim::trajectory::TrajectorySumCost< T >::makeDiscreteInterval	(	interval_t	interval,
		StableTimePoint	step
	)		[inline, static]

Construct a discrete interval.

Parameters:

interval	continuous interval
step	discretization step

template<typename T >

TrajectorySumCost< T >::size_type roboptim::trajectory::TrajectorySumCost< T >::order

(

)

const