class
#include <iDynTree/LinearCost.h>
LinearCost Base classes
- class QuadraticLikeCost
Constructors, destructors, conversion operators
- LinearCost(const std::string& costName)
- ~LinearCost()
Public functions
-
auto setStateCost(const iDynTree::
VectorDynSize & stateGradient) -> bool -
auto setStateCost(std::shared_ptr<iDynTree::
optimalcontrol:: > timeVaryingStateGradient) -> boolTimeVaryingVector -
auto setControlCost(const iDynTree::
VectorDynSize & controlGradient) -> bool -
auto setControlCost(std::shared_ptr<iDynTree::
optimalcontrol:: > timeVaryingControlGradient) -> boolTimeVaryingVector - auto setCostBias(double stateCostBias, double controlCostBias) -> bool
-
auto setCostBias(std::shared_ptr<iDynTree::
optimalcontrol:: > timeVaryingStateCostBias, std::shared_ptr<iDynTree::TimeVaryingDouble optimalcontrol:: > timeVaryingControlCostBias) -> boolTimeVaryingDouble