CostFunction Class Reference

Interface for cost functions, which define a cost_function. More...

#include <CostFunction.hpp>

Inheritance diagram for CostFunction:

Public Member Functions
virtual void	evaluate (const Eigen::VectorXd &sample, Eigen::VectorXd &cost) const =0
	The cost function which defines the cost_function. More...
virtual unsigned int	getNumberOfCostComponents (void) const =0
	Get the number of individual cost components that constitute the final total cost. More...
virtual std::string	toString (void) const =0
	Returns a string representation of the object. More...

Friends
std::ostream &	operator<< (std::ostream &output, const CostFunction &cost_function)
	Write to output stream. More...

Detailed Description

Interface for cost functions, which define a cost_function.

For further information see the section on CostFunction vs Task/TaskSolver

Definition at line 35 of file CostFunction.hpp.

Member Function Documentation

virtual void evaluate ( const Eigen::VectorXd &  sample, Eigen::VectorXd &  cost  ) const

pure virtual

The cost function which defines the cost_function.

Parameters

[in]	sample	A sample in the search space
[out]	cost	The cost for the sample. The first entry cost[0] is the total cost. cost[1..n_cost_components] can contain individual cost components.

virtual unsigned int getNumberOfCostComponents ( void  ) const

pure virtual

Get the number of individual cost components that constitute the final total cost.

Returns

The number of cost components.

Implemented in DemoCostFunctionDistanceToPoint.

virtual std::string toString ( void  ) const

pure virtual

Returns a string representation of the object.

Returns

A string representation of the object.

Implemented in DemoCostFunctionDistanceToPoint.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  output, const CostFunction &  cost_function  )

friend

Write to output stream.

Parameters

[in]	output	Output stream to which to write to
[in]	cost_function	CostFunction object to write

Returns

Output to which the object was written

Remarks

Calls virtual function CostFunction::toString, which must be implemented by subclasses: http://stackoverflow.com/questions/4571611/virtual-operator

Definition at line 64 of file CostFunction.hpp.

                                                                                       {
    output << cost_function.toString();
    return output;
  }

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

• CostFunction.hpp