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, |
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const typename boost::optional< vector_t > |
alpha = typename boost::optional<vector_t> () , |
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const typename boost::optional< value_type > |
ksi1 = typename boost::optional<value_type> () , |
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const typename boost::optional< value_type > |
ksi2 = typename boost::optional<value_type> () | |
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) |
| | throw () |
Member Function Documentation