.. _file_include_stomp_moveit_cost_functions.hpp:

File cost_functions.hpp
=======================

|exhale_lsh| :ref:`Parent directory <dir_include_stomp_moveit>` (``include/stomp_moveit``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



MoveIt-based cost functions that can be passed to STOMP via a ComposableTask. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/stomp_moveit/cost_functions.hpp``)
--------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_stomp_moveit_cost_functions.hpp.rst



Detailed Description
--------------------

Henning Kayser 






Includes
--------


- ``Eigen/Geometry``

- ``moveit/kinematic_constraints/kinematic_constraint.hpp``

- ``moveit/planning_scene/planning_scene.hpp``

- ``stomp_moveit/conversion_functions.hpp`` (:ref:`file_include_stomp_moveit_conversion_functions.hpp`)

- ``stomp_moveit/stomp_moveit_task.hpp`` (:ref:`file_include_stomp_moveit_stomp_moveit_task.hpp`)



Included By
-----------


- :ref:`file_include_stomp_moveit_cost_functions.h`




Namespaces
----------


- :ref:`namespace_stomp_moveit`

- :ref:`namespace_stomp_moveit__costs`


Functions
---------


- :ref:`exhale_function_cost__functions_8hpp_1ae9eb133706410f19b9a4ff2343efa4af`

- :ref:`exhale_function_cost__functions_8hpp_1a224f209972f8a94870a68508907c1994`

- :ref:`exhale_function_cost__functions_8hpp_1a08fc4365798285788e28bebed5c2f43c`

- :ref:`exhale_function_cost__functions_8hpp_1a914e74f7c0f1214a6959f5be7e4a523c`


Typedefs
--------


- :ref:`exhale_typedef_cost__functions_8hpp_1ad564527845ac3f2905d6aab7197b9912`


Variables
---------


- :ref:`exhale_variable_cost__functions_8hpp_1a4c49fac1329cc03f57522021b4dec1ee`

- :ref:`exhale_variable_cost__functions_8hpp_1acdd3680b23adeae8522d527772cbefb7`