LinearCost class
#include <iDynTree/LinearCost.h>
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:: TimeVaryingVector> timeVaryingStateGradient) -> bool -
auto setControlCost(const iDynTree::
VectorDynSize& controlGradient) -> bool -
auto setControlCost(std::shared_ptr<iDynTree::
optimalcontrol:: TimeVaryingVector> timeVaryingControlGradient) -> bool - auto setCostBias(double stateCostBias, double controlCostBias) -> bool
-
auto setCostBias(std::shared_ptr<iDynTree::
optimalcontrol:: TimeVaryingDouble> timeVaryingStateCostBias, std::shared_ptr<iDynTree:: optimalcontrol:: TimeVaryingDouble> timeVaryingControlCostBias) -> bool