def __init__(self, no_init=False, **kwargs):
Cost.__init__(self)
self._weights = kwargs.pop('weights', [])
if no_init:
self._costs = kwargs.pop('costs', [])
else:
costs_params = kwargs.pop('costs', [])
self._costs = [init_component(params) for params in costs_params]
assert len(self._costs) > 0
assert isinstance(self._costs[0], Cost)
assert len(self._costs) == len(self._weights)
def __init__(self, **kwargs):
Cost.__init__(self)
self._wu = kwargs.pop('wu')
self._target = np.array(kwargs.pop('desired_state'), dtype=np.float64)