Implements a cost of the form c * (1 - cos(θ))
, where θ is the angle between the orientation of frame A and the orientation of frame B, and c
is a cost scaling.
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| OrientationCost (const MultibodyPlant< double > *plant, const Frame< double > &frameAbar, const math::RotationMatrix< double > &R_AbarA, const Frame< double > &frameBbar, const math::RotationMatrix< double > &R_BbarB, double c, systems::Context< double > *plant_context) |
| Constructs OrientationCost object. More...
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| OrientationCost (const MultibodyPlant< AutoDiffXd > *plant, const Frame< AutoDiffXd > &frameAbar, const math::RotationMatrix< double > &R_AbarA, const Frame< AutoDiffXd > &frameBbar, const math::RotationMatrix< double > &R_BbarB, double c, systems::Context< AutoDiffXd > *plant_context) |
| Overloaded constructor. More...
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| ~OrientationCost () override |
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| OrientationCost (const OrientationCost &)=delete |
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OrientationCost & | operator= (const OrientationCost &)=delete |
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| OrientationCost (OrientationCost &&)=delete |
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OrientationCost & | operator= (OrientationCost &&)=delete |
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| Cost (const Cost &)=delete |
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Cost & | operator= (const Cost &)=delete |
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| Cost (Cost &&)=delete |
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Cost & | operator= (Cost &&)=delete |
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virtual | ~EvaluatorBase () |
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void | Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const |
| Evaluates the expression. More...
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void | Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const |
| Evaluates the expression. More...
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void | Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const |
| Evaluates the expression. More...
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void | set_description (const std::string &description) |
| Set a human-friendly description for the evaluator. More...
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const std::string & | get_description () const |
| Getter for a human-friendly description for the evaluator. More...
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std::ostream & | Display (std::ostream &os, const VectorX< symbolic::Variable > &vars) const |
| Formats this evaluator into the given stream using vars for the bound decision variable names. More...
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std::ostream & | Display (std::ostream &os) const |
| Formats this evaluator into the given stream, without displaying the decision variables it is bound to. More...
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std::string | ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const |
| Returns a LaTeX string describing this evaluator. More...
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int | num_vars () const |
| Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y). More...
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int | num_outputs () const |
| Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y). More...
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void | SetGradientSparsityPattern (const std::vector< std::pair< int, int >> &gradient_sparsity_pattern) |
| Set the sparsity pattern of the gradient matrix ∂y/∂x (the gradient of y value in Eval, w.r.t x in Eval) . More...
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const std::optional< std::vector< std::pair< int, int > > > & | gradient_sparsity_pattern () const |
| Returns the vector of (row_index, col_index) that contains all the entries in the gradient of Eval function (∂y/∂x) whose value could be non-zero, namely if ∂yᵢ/∂xⱼ could be non-zero, then the pair (i, j) is in gradient_sparsity_pattern. More...
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bool | is_thread_safe () const |
| Returns whether it is safe to call Eval in parallel. More...
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| EvaluatorBase (const EvaluatorBase &)=delete |
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EvaluatorBase & | operator= (const EvaluatorBase &)=delete |
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| EvaluatorBase (EvaluatorBase &&)=delete |
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EvaluatorBase & | operator= (EvaluatorBase &&)=delete |
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