Public Types |
typedef T | trajectory_t |
| Trajectory type.
|
Public Member Functions |
| StateFunction (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1) throw () |
| Constructor.
|
virtual | ~StateFunction () throw () |
size_type | order () const throw () |
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_t &, const argument_t &) const throw () |
void | impl_gradient (gradient_t &, const argument_t &, size_type) const throw () |
template<typename T>
class roboptim::StateFunction< T >
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
of the configuration.
where
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:
-