weight
Input value for copp.objective.total_variation_torque. See Description for accepted shape and constraints.
copp.objective.total_variation_torque
Construct a torque total-variation objective.
Syntax
objective = copp.objective.total_variation_torque(weight, normalize)
Description
Returns a COPP objective that penalizes total variation of torque. This objective is supported by SOCP backends. 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.
Input Arguments
normalize
Input value for copp.objective.total_variation_torque. See Description for accepted shape and constraints.
Output Arguments
objective
Returned value from copp.objective.total_variation_torque. See Description for its shape and meaning.