Joint space position cost. More...

Inheritance diagram for trajopt::JointPosCostInfo:

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	vals

DblVec	coeffs

int	timestep

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 position cost.

$\begin{align*} \sum_i c_i (x_i - xtarg_i)^2 \end{align*}$

where $i$ indexes over dof and $c_i$ are coeffs

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

Public Member Functions