Inheritance diagram for hpp::core::pathOptimization::Cost:

Collaboration diagram for hpp::core::pathOptimization::Cost:

Public Member Functions
virtual void	hessian (matrixOut_t hessian) const =0
Public Member Functions inherited from hpp::constraints::DifferentiableFunction
virtual	~DifferentiableFunction ()
vectorIn_t argument) const
void	vectorIn_t argument) const
void	vectorIn_t argument) const
const activeParameters () const
const activeDerivativeParameters () const
inputSize () const
inputDerivativeSize () const
outputSpace () const
outputSize () const
outputDerivativeSize () const
const std::string &	name () const
virtual std::ostream &	print (std::ostream &o) const
std::string	context () const
void	context (const std::string &c)
void	value_type >::epsilon())) const
void	value_type >::epsilon())) const
bool	DifferentiableFunction const &other) const
bool	DifferentiableFunction const &b) const
virtual std::pair< DeviceConstPtr_t) const

Protected Member Functions
	Cost (size_type name)
Protected Member Functions inherited from hpp::constraints::DifferentiableFunction
	name=std::string())
	name=std::string())
virtual void	vectorIn_t argument) const=0
virtual void	vectorIn_t arg) const=0
virtual bool	DifferentiableFunction &other) const
	DifferentiableFunction ()

Additional Inherited Members
Static Public Member Functions inherited from hpp::constraints::DifferentiableFunction
static interval_t interval)
Protected Attributes inherited from hpp::constraints::DifferentiableFunction
inputSize_
inputDerivativeSize_
outputSpace_
activeParameters_
activeDerivativeParameters_

Detailed Description

numerical cost for path optimization

Provides an initial guess for the Hessian to initialize quasi-Newton methods.

Constructor & Destructor Documentation

hpp::core::pathOptimization::Cost::Cost	(	size_type	inputSize,
		size_type	inputDerivativeSize,
		const std::string &	name )

inlineprotected

virtual void hpp::core::pathOptimization::Cost::hessian ( matrixOut_t hessian ) const

pure virtual

Return an approximation of the Hessian at minimum

Return values

hessian Hessian matrix of right size

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