Class CostFunction
Defined in File cartesian_utils.h
Inheritance Relationships
Derived Types
public OpenSoT::tasks::velocity::Manipulability::ComputeManipulabilityIndexGradient(Class Manipulability::ComputeManipulabilityIndexGradient)public OpenSoT::tasks::velocity::MinimumEffort::ComputeGTauGradient(Class MinimumEffort::ComputeGTauGradient)
Class Documentation
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class CostFunction
The CostFunction class pure virtual function used to describe functions for computeGradient method.
Subclassed by OpenSoT::tasks::velocity::Manipulability::ComputeManipulabilityIndexGradient, OpenSoT::tasks::velocity::MinimumEffort::ComputeGTauGradient
Public Functions
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virtual double compute(const Eigen::VectorXd &x) = 0
compute value of function in x
- Parameters
x –
- Returns
scalar
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virtual double compute(const Eigen::VectorXd &x) = 0