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

Public Member Functions
	ChompCost (const ChompTrajectory &T, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0)

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

const Eigen::MatrixXd &	getQuadraticCostInverse () const

const Eigen::MatrixXd &	getQuadraticCost () const

double	getCost (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.

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

Public Member Functions