Cost Function: Reference Trajectory - Githubissues

roboptim / roboptim-retargeting

Motion Retargeting using RobOptim (EXPERIMENTAL)

http://www.roboptim.net/

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Cost Function: Reference Trajectory #11

Closed thomas-moulard closed 11 years ago

thomas-moulard commented 11 years ago

[x] Make VectorInterpolation a trajectory Require the class to be moved from roboptim-core to roboptim-trajectory with its test.
[x] Implement cost function
[x] Implement cost function gradient
[x] Debugging cost function

Time Tracking:

25 min (state cost implementation)
25 min (vector interpolation is now a trajectory)
long (working around trajectory sum cost limitation)

Actually, implementation using TrajectorySumCost is not possible because the time is not known by the state function. Working around...