aligator  0.16.0
A versatile and efficient C++ library for real-time constrained trajectory optimization.
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control-box-function.hpp
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1#pragma once
2
4
5namespace aligator {
14template <typename _Scalar>
15struct ALIGATOR_DEPRECATED_MESSAGE(
16 "ControlBoxFunction should not be used. Instead, just use "
17 "the identity function and a BoxConstraintTpl.") ControlBoxFunctionTpl
18 : StageFunctionTpl<_Scalar> {
19 using Scalar = _Scalar;
21 using Base = StageFunctionTpl<Scalar>;
22 using Data = StageFunctionDataTpl<Scalar>;
23
24 VectorXs umin_, umax_;
25
28 ControlBoxFunctionTpl(const int ndx, const VectorXs &umin,
29 const VectorXs &umax);
30
33 ControlBoxFunctionTpl(const int ndx, const int nu, const Scalar umin,
34 const Scalar umax);
35
36 void evaluate(const ConstVectorRef &, const ConstVectorRef &u,
37 Data &data) const override;
38
44 void computeJacobians(const ConstVectorRef &, const ConstVectorRef &,
45 Data &data) const override;
46
49 virtual shared_ptr<Data> createData() const override;
50};
51
52} // namespace aligator
53
54#include "aligator/modelling/control-box-function.hxx"
Base definitions for ternary functions.
#define ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
Definition math.hpp:8
::aligator::context::Scalar Scalar
Definition context.hpp:14
Main package namespace.
Class representing ternary functions .