KrisLibrary
1.0.0
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Public Member Functions | |
IncrementalCostFunction (KinodynamicSpace *_kspace, ObjectiveFunctionalBase *_obj, const State &_x) | |
virtual Real | Eval (const ControlInput &u) |
virtual void | Gradient (const ControlInput &u, Vector &grad) |
virtual void | Hessian (const State &u, Matrix &H) |
Public Member Functions inherited from Math::ScalarFieldFunction | |
virtual std::string | Label () const |
virtual std::string | VariableLabel (int i) const |
virtual Real | operator() (const Vector &x) |
virtual void | PreEval (const Vector &x) |
virtual Real | Gradient_i (const Vector &x, int i) |
virtual Real | DirectionalDeriv (const Vector &x, const Vector &h) |
virtual Real | Hessian_ij (const Vector &x, int i, int j) |
virtual Real | DirectionalDeriv2 (const Vector &x, const Vector &h) |
Public Attributes | |
KinodynamicSpace * | kspace |
ObjectiveFunctionalBase * | obj |
Config | x |