Joint-space velocity squared. More...

Inheritance diagram for trajopt::JointVelCostInfo:

Public Member Functions
void	fromJson (const Value &v)

void	hatch (TrajOptProb &prob)

Public Member Functions inherited from trajopt::TermInfo
virtual void	fromJson (const Json::Value &v)=0

Public Attributes
DblVec	coeffs

Public Attributes inherited from trajopt::TermInfo
string	name

TermType	term_type

Additional Inherited Members
Public Types inherited from trajopt::TermInfo
typedef TermInfoPtr(*	MakerFunc )(void)
	Registers a user-defined TermInfo so you can use your own cost see function RegisterMakers.cpp.

Static Public Member Functions inherited from trajopt::TermInfo
static TermInfoPtr	fromName (const string &type)

static void	RegisterMaker (const std::string &type, MakerFunc)

Detailed Description

Joint-space velocity squared.

$\begin{align*} cost = \sum_{t=0}^{T-2} \sum_j c_j (x_{t+1,j} - x_{t,j})^2 \end{align*}$

where j indexes over DOF, and $c_j$ are the coeffs.

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

Public Member Functions