weight
Input value for copp.objective.thermal_energy. See Description for accepted shape and constraints.
copp.objective.thermal_energy
Construct a thermal-energy objective descriptor.
Syntax
objective = copp.objective.thermal_energy(weight, normalize)
Description
Returns a torque energy style objective. NORMALIZE is a per-axis nonnegative vector with length dim=robot.dim; it may be 1-by-dim or \(\mathrm{dim} \times 1\) and is stored as a \(\mathrm{dim} \times 1\) double column. If no inverse-dynamics callback is installed on the Robot, the native solver uses point dynamics \(\tau = \ddot{q}\).
Input Arguments
normalize
Input value for copp.objective.thermal_energy. See Description for accepted shape and constraints.
Output Arguments
objective
Returned value from copp.objective.thermal_energy. See Description for its shape and meaning.