iDynTree::optimalcontrol::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