Inheritance diagram for trajopt::StaticTorqueCost:

Public Member Functions
	StaticTorqueCost (RobotAndDOFPtr rad, const VarVector &vars, double coeff)

Public Member Functions inherited from sco::CostFromErrFunc
	CostFromErrFunc (VectorOfVectorPtr f, const VarVector &vars, const VectorXd &coeffs, PenaltyType pen_type, const string &name)
	supply error function, obtain derivative numerically

	CostFromErrFunc (VectorOfVectorPtr f, MatrixOfVectorPtr dfdx, const VarVector &vars, const VectorXd &coeffs, PenaltyType pen_type, const string &name)
	supply error function and gradient

double	value (const vector< double > &x)
	Evaluate at solution vector x.

ConvexObjectivePtr	convex (const vector< double > &x, Model *model)
	Convexify at solution vector x.

Public Member Functions inherited from sco::Cost
string	name ()

void	setName (const string &name)

	Cost (const string &name)

Additional Inherited Members
Protected Attributes inherited from sco::CostFromErrFunc
VectorOfVectorPtr	f_

MatrixOfVectorPtr	dfdx_

VarVector	vars_

VectorXd	coeffs_

PenaltyType	pen_type_

double	epsilon_

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

Public Member Functions

Public Attributes