How to deal with underbrace inside parentheses?

Question

I have the following equation:

J_\pi(x_0)=\left(\underbrace{g_N(x_N)}_{\mathclap{\substack{\text{Terminal}
           \\\text{cost}}}}+\underbrace{\sum_{k=0}^{N-1}g_k(x_k,u_k,w_k)}_
           {\mathclap{\substack{\text{Accumulated}\\\text{cost}}}}\right)

Which outputs:

I want to get rid of the "extra height" on the parentheses (circled above in red) that's created due to the underbrace. How do I do this? Thank you!

Solution: I used biggl and biggr as per the suggestions, it works:

Thank you!

Answer 1

Even without underbraces you shouldn't use here \left ... right, as they give too high parentheses. There is family \bigl, \Bigl, \biggl, \Biggl and closing \bigr and so on. You can choose suitable height, using them, e.g.

\[
J_\pi(x_0)=\Biggl(\underbrace{g_N(x_N)}_{\mathclap{\substack{\text{Terminal}
           \\\text{cost}}}}+\underbrace{\sum_{k=0}^{N-1}g_k(x_k,u_k,w_k)}_
           {\mathclap{\substack{\text{Accumulated}\\\text{cost}}}}\Biggr)
\]