.. _exhale_class_classCostFunction:

Class CostFunction
==================

- Defined in :ref:`file__home_runner_work_OpenSoT_OpenSoT_include_OpenSoT_utils_cartesian_utils.h`


Inheritance Relationships
-------------------------

Derived Types
*************

- ``public OpenSoT::tasks::velocity::Manipulability::ComputeManipulabilityIndexGradient`` (:ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1Manipulability_1_1ComputeManipulabilityIndexGradient`)
- ``public OpenSoT::tasks::velocity::MinimumEffort::ComputeGTauGradient`` (:ref:`exhale_class_classOpenSoT_1_1tasks_1_1velocity_1_1MinimumEffort_1_1ComputeGTauGradient`)


Class Documentation
-------------------


.. doxygenclass:: CostFunction
   :project: OpenSoT
   :members:
   :protected-members:
   :undoc-members: