Penalty terms for the Optimal Control module. Returns the penalty function and its gradient for the waveform, which should be supplied as row vector or a horizontal stack thereof.
wf - control sequence waveform type='NS' - norm square, designed to favour low-power waveforms over high- power ones. type='DNS' - derivative norm square, desig- ned to favour smooth waveforms over jagged ones. type='SNS' - spillout norm square, NS appli- ed to the part of the waveform with values outside the floor and ceiling bounds. fb - floor bound, the lower bound on waveform used in the SNS penal- ty function. cb - ceiling bound, the upper bound on waveform used in the SNS pe- nalty function.
pen_term - value of the penalty term pen_grad - gradient of the penalty term with respect to the waveform vector pen_hess - Hessian of the penalty term with respect to the waveform vector
The waveforms on different channels are assumed to be stored in the rows of the input array. The Hessian elements correspond to the elements of the waveform array ordered as:
[X1 Y1 Z1 X2 Y2 Z2 ... Xn Yn Zn]
where X,Y,Z are different control channels and the index enumerates the time discretization points. Gradient dimensions and element order are the same as the input waveform dimensions and element order.