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CentroEPiaggio / primitives

Primitive library for loco-manipulation tasks
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Primitive Cost #13

Closed corradopav closed 8 years ago

corradopav commented 9 years ago

Let's discuss more about how the cost is computed during a trajectory simulation

DaniloCaporale commented 9 years ago

Cost is currently calculated as the energy of the derivatives of joint speed. As soon as we have trapezoidal profile issue fixed we will be able to use (efficiently) the time as a cost to perform planning of minimum-time problems.

DaniloCaporale commented 8 years ago

We have moved to minimum-time problems, so time is the cost.