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sco::Cost Class Referenceabstract

Non-convex cost function, which knows how to calculate its convex approximation (convexify() method) More...

#include <modeling.hpp>

Inheritance diagram for sco::Cost:
sco::CostFromErrFunc sco::CostFromFunc trajopt::AngVelCost trajopt::CollisionCost trajopt::JointAccCost trajopt::JointPosCost trajopt::JointVelCost trajopt::PECost trajopt::StaticTorqueCost

Public Member Functions

virtual double value (const vector< double > &)=0
 Evaluate at solution vector x.
 
virtual ConvexObjectivePtr convex (const vector< double > &x, Model *model)=0
 Convexify at solution vector x.
 
string name ()
 
void setName (const string &name)
 
 Cost (const string &name)
 

Protected Attributes

string name_
 

Detailed Description

Non-convex cost function, which knows how to calculate its convex approximation (convexify() method)


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