16 bp::class_<DirectSumCost, bp::bases<CostAbstract>>(
"DirectSumCost",
18 .def(bp::init<xyz::polymorphic<CostAbstract>,
19 xyz::polymorphic<CostAbstract>>(
20 bp::args(
"self",
"cost1",
"cost2")))
25 bp::class_<DirectSumCost::Data, bp::bases<context::CostData>>(
26 "DirectSumCostData", bp::no_init)
27 .def_readonly(
"data1", &DirectSumCost::Data::data1_)
28 .def_readonly(
"data2", &DirectSumCost::Data::data2_);
31 "Perform the direct sum of two cost functions, :math:`l_3(x,u) = "
32 "l_1(x_1,u_1) + l_2(x_2,u_2)`");
CostAbstractTpl< Scalar > CostAbstract
ManifoldAbstractTpl< Scalar > Manifold