roboptim::AnthropomorphicCostFunction< T > Class Template Reference

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

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

List of all members.

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 >()) throw ()
 ~AnthropomorphicCostFunction () throw ()

Static Public Member Functions

static vector_t defaultAlpha ()
static value_type defaultKsi1 ()
static value_type defaultKsi2 ()

Protected Member Functions

void impl_compute (result_t &res, const argument_t &p) const throw ()
void impl_gradient (gradient_t &grad, const argument_t &p, size_type i) const throw ()

Detailed Description

template<typename T>
class roboptim::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::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> () 
) throw () [inline]
template<typename T >
roboptim::AnthropomorphicCostFunction< T >::~AnthropomorphicCostFunction (  )  throw () [inline]

Member Function Documentation

template<typename T >
static vector_t roboptim::AnthropomorphicCostFunction< T >::defaultAlpha (  )  [inline, static]
template<typename T >
static value_type roboptim::AnthropomorphicCostFunction< T >::defaultKsi1 (  )  [inline, static]
template<typename T >
static value_type roboptim::AnthropomorphicCostFunction< T >::defaultKsi2 (  )  [inline, static]
template<typename T >
void roboptim::AnthropomorphicCostFunction< T >::impl_compute ( result_t &  res,
const argument_t &  p 
) const throw () [inline, protected]
template<typename T >
void roboptim::AnthropomorphicCostFunction< T >::impl_gradient ( gradient_t &  grad,
const argument_t &  p,
size_type  i 
) const throw () [inline, protected]