optimization.terms
Terms of a problem: the effort, a coordinate to bring to zero, a coordinate to keep in bounds.
Classes
Bound(coordinate[, lower, upper, t_from, ...])
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The coordinate stays within lower and upper (numbers, or one per entry) at the nodes of the window t_from ≤ t ≤ t_to, except the first node when it is the fixed start (a periodic motion has none). |
Cost(coordinate[, weight, t_from, t_to, name])
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weight × the integral of the squared coordinate from t_from on: arrive and stay.
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Effort(weight, *[, name])
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weight × the integral of the squared motor torques over the horizon (trapezoid rule).
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Period(param, *[, name])
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The horizon equals the Param called param: a controller whose reference repeats every param seconds (a function of vmc.Time() and that Param) has its orbit repeat with it. |
Sparsity(weight, *patterns[, name])
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weight × the sum of the free Params matching patterns, each of them at least 0.
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Term()
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A cost and/or constraints over the nodes of the planned motion; subclass it to add your own. |
