aligator
0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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control-box-function.hpp
Go to the documentation of this file.
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#pragma once
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#include "
aligator/core/function-abstract.hpp
"
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namespace
aligator
{
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template
<
typename
_Scalar>
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struct
ALIGATOR_DEPRECATED_MESSAGE(
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"ControlBoxFunction should not be used. Instead, just use "
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"the identity function and a BoxConstraintTpl."
) ControlBoxFunctionTpl
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:
StageFunctionTpl
<_Scalar> {
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using
Scalar
= _Scalar;
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ALIGATOR_DYNAMIC_TYPEDEFS
(Scalar);
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using
Base = StageFunctionTpl<Scalar>;
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using
Data = StageFunctionDataTpl<Scalar>;
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VectorXs umin_, umax_;
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ControlBoxFunctionTpl(
const
int
ndx,
const
VectorXs &umin,
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const
VectorXs &umax);
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ControlBoxFunctionTpl(
const
int
ndx,
const
int
nu,
const
Scalar umin,
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const
Scalar umax);
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void
evaluate(
const
ConstVectorRef &,
const
ConstVectorRef &u,
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Data &data)
const override
;
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void
computeJacobians(
const
ConstVectorRef &,
const
ConstVectorRef &,
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Data &data)
const override
;
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virtual
shared_ptr<Data> createData()
const override
;
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};
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}
// namespace aligator
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#include "aligator/modelling/control-box-function.hxx"
function-abstract.hpp
Base definitions for ternary functions.
ALIGATOR_DYNAMIC_TYPEDEFS
#define ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
Definition
math.hpp:8
aligator::compat::croc::context::Scalar
::aligator::context::Scalar Scalar
Definition
context.hpp:14
aligator
Main package namespace.
Definition
action-model-wrap.hpp:14
aligator::StageFunctionTpl
Class representing ternary functions .
Definition
function-abstract.hpp:12
include
aligator
modelling
control-box-function.hpp
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