chomp::ChompCost Class Reference

Represents the smoothness cost for CHOMP, for a single joint. More...

#include <chomp_cost.hpp>

Public Member Functions
	ChompCost (const ChompTrajectory &trajectory, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0)
virtual	~ChompCost ()
template<typename Derived>
void	getDerivative (const Eigen::MatrixXd::ColXpr &joint_trajectory, Eigen::MatrixBase< Derived > &derivative) const
const Eigen::MatrixXd &	getQuadraticCostInverse () const
const Eigen::MatrixXd &	getQuadraticCost () const
double	getCost (const Eigen::MatrixXd::ColXpr &joint_trajectory) const
double	getMaxQuadCostInvValue () const
void	scale (double scale)

Detailed Description

Represents the smoothness cost for CHOMP, for a single joint.

Definition at line 49 of file chomp_cost.hpp.

Constructor & Destructor Documentation

ChompCost()

chomp::ChompCost::ChompCost	(	const ChompTrajectory &	trajectory,
		int	joint_number,
		const std::vector< double > &	derivative_costs,
		double	ridge_factor = 0.0 )

Definition at line 47 of file chomp_cost.cpp.

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~ChompCost()

chomp::ChompCost::~ChompCost ( )

virtualdefault

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Member Function Documentation

getCost()

double chomp::ChompCost::getCost ( const Eigen::MatrixXd::ColXpr & joint_trajectory ) const

inline

Definition at line 95 of file chomp_cost.hpp.

getDerivative()

template<typename Derived>

void chomp::ChompCost::getDerivative	(	const Eigen::MatrixXd::ColXpr &	joint_trajectory,
		Eigen::MatrixBase< Derived > &	derivative ) const

Definition at line 79 of file chomp_cost.hpp.

getMaxQuadCostInvValue()

double chomp::ChompCost::getMaxQuadCostInvValue

(

)

const

Definition at line 92 of file chomp_cost.cpp.

getQuadraticCost()

const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCost ( ) const

inline

Definition at line 90 of file chomp_cost.hpp.

getQuadraticCostInverse()

const Eigen::MatrixXd & chomp::ChompCost::getQuadraticCostInverse ( ) const

inline

Definition at line 85 of file chomp_cost.hpp.

scale()

void chomp::ChompCost::scale

(

double

scale

)

Definition at line 97 of file chomp_cost.cpp.

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The documentation for this class was generated from the following files:

• moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_cost.hpp
• moveit_planners/chomp/chomp_motion_planner/src/chomp_cost.cpp