Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
roboptim::StateFunction< T > Class Template Reference
Mathematical abstract functions

Trajectory cost function defined by state evaluation at parameter. More...

#include <roboptim/trajectory/state-function.hh>

+ Inheritance diagram for roboptim::StateFunction< T >:

Public Types

typedef T trajectory_t
 Trajectory type. More...
 

Public Member Functions

 StateFunction (const trajectory_t &gamma, boost::shared_ptr< DerivableFunction > cost, const StableTimePoint tpt, size_type order=1) throw ()
 Constructor. More...
 
virtual ~StateFunction () throw ()
 
size_type order () const throw ()
 

Static Public Member Functions

template<typename F , typename CLIST >
static void addToProblem (const trajectory_t &trajectory, boost::shared_ptr< DerivableFunction > function, unsigned order, Problem< F, CLIST > &problem, typename Function::interval_t bounds, unsigned nConstraints)
 

Protected Member Functions

void impl_compute (result_t &, const argument_t &) const throw ()
 
void impl_gradient (gradient_t &, const argument_t &, size_type) const throw ()
 

Detailed Description

template<typename T>
class roboptim::StateFunction< T >

Trajectory cost function defined by state evaluation at parameter.

The state along a trajectory is defined as the vector containing the configuration and derivatives up to order $r$ of the configuration.

\[ \textbf{Cost}(\Gamma) = cost \left({\Gamma(t)}, {\dot{\Gamma}(t)},\cdots,\frac{d^{r}\Gamma}{dt^{r}}(t) \right) \]

where

  • $\textbf{Cost}$ is the trajectory cost,
  • $cost$ is the state cost,
  • $t$ is the parameter along the trajectory where the cost is evaluated (fixed at construction),
  • $r$ is called the order of the state.
Template Parameters
Ttrajectory type

Member Typedef Documentation

template<typename T >
typedef T roboptim::StateFunction< T >::trajectory_t

Trajectory type.

Constructor & Destructor Documentation

template<typename T >
roboptim::StateFunction< T >::StateFunction ( const trajectory_t &  gamma,
boost::shared_ptr< DerivableFunction >  cost,
const StableTimePoint  tpt,
size_type  order = 1 
)
throw (
)

Constructor.

Parameters
gammaTrajectory $\Gamma$ along which the state is evaluated.
coststate cost: $cost$.
tptparameter $t$ where the state is evaluated.
orderorder $r$ of derivation.
template<typename T >
roboptim::StateFunction< T >::~StateFunction ( )
throw (
)
virtual

Member Function Documentation

template<typename T >
template<typename F , typename CLIST >
static void roboptim::StateFunction< T >::addToProblem ( const trajectory_t &  trajectory,
boost::shared_ptr< DerivableFunction >  function,
unsigned  order,
Problem< F, CLIST > &  problem,
typename Function::interval_t  bounds,
unsigned  nConstraints 
)
inlinestatic

References roboptim::tMax.

template<typename T >
void roboptim::StateFunction< T >::impl_compute ( result_t &  res,
const argument_t &  p 
) const
throw (
)
protected
template<typename T >
void roboptim::StateFunction< T >::impl_gradient ( gradient_t &  grad,
const argument_t &  p,
size_type  i 
) const
throw (
)
protected
template<typename T >
StateFunction< T >::size_type roboptim::StateFunction< T >::order ( ) const
throw (
)