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PostureError Class Reference

penalize the cost sum_i (q(:,i)-q_nom(:,i))'Q(q(:,i)-q_nom(:,i)) More...

Inheritance diagram for PostureError:
Collaboration diagram for PostureError:

Public Member Functions

function PostureError (Q, q_nom)
 
- Public Member Functions inherited from Constraint
function Constraint (lb, ub, xdim, options)
 Constraint(lb,ub) or Constraint(lb,ub,eval_handle) More...
 
function setSparseStructure (obj, iCfun, jCvar)
 set the sparse structure of the 1st order gradient matrix More...
 
function getGradientSparseStructure (obj)
 
function checkGradient (obj, tol, varargin)
 Check the accuracy and sparsity pattern of the gradient. More...
 
function setName (obj, name)
 
function disp (obj)
 
function eval (obj, varargin)
 
function setBounds (obj, lb, ub)
 revise the bounds for the constraint More...
 

Public Attributes

Property Q
 
Property q_nom
 
- Public Attributes inherited from Constraint
Property grad_level
 
Property grad_method
 A string indicating the method to compute gradient. If empty,. More...
 

Protected Member Functions

function constraintEval (obj, x)
 
- Protected Member Functions inherited from Constraint
virtual function constraintEval (obj, varargin)
 

Additional Inherited Members

- Protected Attributes inherited from Constraint
Property lb
 
Property ub
 
Property xdim
 
Property num_cnstr
 
Property name
 
Property ceq_idx
 
Property cin_idx
 

Detailed Description

penalize the cost sum_i (q(:,i)-q_nom(:,i))'Q(q(:,i)-q_nom(:,i))

Parameters
Q– A nq x nq PSD matrix
q_nom– A nq x nT double matrix. The nominal posture

Constructor & Destructor Documentation

function PostureError ( Q  ,
q_nom   
)
Return values
obj

Member Function Documentation

function constraintEval ( obj  ,
 
)
protected
Return values
c
dc

Member Data Documentation

Property Q
Property q_nom

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