cost.h File Reference

#include <cstddef>
#include <limits>
#include <memory>
#include <optional>
#include <string>
#include <utility>
#include <vector>
#include <Eigen/SparseCore>
#include "drake/common/drake_deprecated.h"
#include "drake/solvers/decision_variable.h"
#include "drake/solvers/evaluator_base.h"
#include "drake/solvers/sparse_and_dense_matrix.h"

Include dependency graph for cost.h:

This graph shows which files directly or indirectly include this file:

Classes
class	Cost
	Provides an abstract base for all costs. More...
class	LinearCost
	Implements a cost of the form \[ a'x + b \] . More...
class	QuadraticCost
	Implements a cost of the form \[ .5 x'Qx + b'x + c \] . More...
class	L1NormCost
	Implements a cost of the form ‖Ax + b‖₁. More...
class	L2NormCost
	Implements a cost of the form ‖Ax + b‖₂. More...
class	LInfNormCost
	Implements a cost of the form ‖Ax + b‖∞. More...
class	PerspectiveQuadraticCost
	If \( z = Ax + b,\) implements a cost of the form: \[ (z_1^2 + z_2^2 + ... + z_{n-1}^2) / z_0. \] Note that this cost is convex when we additionally constrain z_0 > 0. More...
class	EvaluatorCost< EvaluatorType >
	A cost that may be specified using another (potentially nonlinear) evaluator. More...
class	PolynomialCost
	Implements a cost of the form P(x, y...) where P is a multivariate polynomial in x, y, ... More...
class	ExpressionCost
	Impose a generic (potentially nonlinear) cost represented as a symbolic Expression. More...

Namespaces
	drake
	drake::solvers

Functions
std::shared_ptr< QuadraticCost >	MakeQuadraticErrorCost (const Eigen::Ref< const Eigen::MatrixXd > &Q, const Eigen::Ref< const Eigen::VectorXd > &x_desired)
	Creates a cost term of the form (x-x_desired)'Q(x-x_desired). More...
std::shared_ptr< QuadraticCost >	Make2NormSquaredCost (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b)
	Creates a quadratic cost of the form |Ax-b|²=(Ax-b)ᵀ(Ax-b) More...
template<typename FF >
std::shared_ptr< Cost >	MakeFunctionCost (FF &&f)
	Converts an input of type F to a nonlinear cost. More...