traj_opt::PolyCost Class Reference

#include <nonlinear_trajectory.h>

Inheritance diagram for traj_opt::PolyCost:

Public Member Functions
	PolyCost (const NLTraj &traj, const NLTimes &times, BasisBundlePro &basis, int min_dim)
decimal_t	evaluate ()
ETV	gradient ()
ETV	hessian ()

Additional Inherited Members
Protected Attributes inherited from traj_opt::CostFunction
std::vector< Variable * >	vars

Constructor & Destructor Documentation

PolyCost()

traj_opt::PolyCost::PolyCost	(	const NLTraj &	traj,
		const NLTimes &	times,
		BasisBundlePro &	basis,
		int	min_dim
	)

Member Function Documentation

evaluate()

decimal_t traj_opt::PolyCost::evaluate ( )

virtual

Implements traj_opt::CostFunction.

gradient()

ETV traj_opt::PolyCost::gradient ( )

virtual

Implements traj_opt::CostFunction.

hessian()

ETV traj_opt::PolyCost::hessian ( )

virtual

Implements traj_opt::CostFunction.

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

• mobility/planner_qp/traj_opt_pro/include/traj_opt_pro/nonlinear_trajectory.h
• mobility/planner_qp/traj_opt_pro/src/nonlinear_trajectory.cpp