QuadraticCost class
#include <iDynTree/QuadraticCost.h>
Base classes
- class QuadraticLikeCost
Constructors, destructors, conversion operators
- QuadraticCost(const std::string& costName)
- ~QuadraticCost()
Public functions
-
auto setStateCost(const iDynTree::
MatrixDynSize& stateHessian, const iDynTree:: VectorDynSize& stateGradient) -> bool -
auto setStateCost(std::shared_ptr<iDynTree::
optimalcontrol:: TimeVaryingMatrix> timeVaryingStateHessian, std::shared_ptr<iDynTree:: optimalcontrol:: TimeVaryingVector> timeVaryingStateGradient) -> bool -
auto setControlCost(const iDynTree::
MatrixDynSize& controlHessian, const iDynTree:: VectorDynSize& controlGradient) -> bool -
auto setControlCost(std::shared_ptr<iDynTree::
optimalcontrol:: TimeVaryingMatrix> timeVaryingControlHessian, 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 - auto setStateHessianSparsity(const SparsityStructure& stateSparsity) -> bool
- auto setControlHessianSparsity(const SparsityStructure& controlSparsity) -> bool