Drake
cost.h File Reference
#include <cstddef>
#include <limits>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include <Eigen/SparseCore>
#include "drake/solvers/evaluator_base.h"
Include dependency graph for cost.h:
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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  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...
 

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...
 
shared_ptr< QuadraticCost > MakeL2NormCost (const Eigen::Ref< const Eigen::MatrixXd > &A, const Eigen::Ref< const Eigen::VectorXd > &b)
 Creates a cost term of the form | Ax - b |^2. More...
 
template<typename FF >
std::shared_ptr< Cost > MakeFunctionCost (FF &&f)
 Converts an input of type F to a nonlinear cost. More...