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aligator::CentroidalWrapperResidualTpl< _Scalar > Struct Template Reference
This residual acts as a wrapper for centroidal model cost functions in which the external forces are added to the state and the control becomes the forces derivatives. More...
#include <aligator/modelling/centroidal/centroidal-wrapper.hpp>
Inheritance diagram for aligator::CentroidalWrapperResidualTpl< _Scalar >:
Collaboration diagram for aligator::CentroidalWrapperResidualTpl< _Scalar >:
Public Types | |
| using | Scalar = _Scalar |
| using | FunPtr = xyz::polymorphic<StageFunctionTpl<Scalar>> |
| using | BaseData = typename Base::Data |
| using | Data = CentroidalWrapperDataTpl<Scalar> |
 Public Types inherited from aligator::UnaryFunctionTpl< _Scalar > | |
| using | Scalar = _Scalar |
| using | Base = StageFunctionTpl<Scalar> |
| using | Data = StageFunctionDataTpl<Scalar> |
| Public Types inherited from aligator::StageFunctionTpl< _Scalar > | |
| using | Scalar = _Scalar |
| using | Data = StageFunctionDataTpl<Scalar> |
Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar) | |
| CentroidalWrapperResidualTpl (FunPtr centroidal_cost) | |
| void | evaluate (const ConstVectorRef &x, BaseData &data) const |
| void | computeJacobians (const ConstVectorRef &x, BaseData &data) const |
| shared_ptr< BaseData > | createData () const |
| Instantiate a Data object. | |
| Public Member Functions inherited from aligator::UnaryFunctionTpl< _Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| virtual void | evaluate (const ConstVectorRef &x, Data &data) const =0 |
| virtual void | computeJacobians (const ConstVectorRef &x, Data &data) const =0 |
| virtual void | computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const |
| void | evaluate (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override |
| Evaluate the function. | |
| void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override |
| Compute Jacobians of this function. | |
| void | computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override |
| Compute the vector-hessian products of this function. | |
| Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar > | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| StageFunctionTpl (const int ndx, const int nu, const int nr) | |
| virtual | ~StageFunctionTpl ()=default |
Public Attributes | |
| FunPtr | centroidal_cost_ |
| Public Attributes inherited from aligator::StageFunctionTpl< _Scalar > | |
| const int | ndx1 |
| Current state dimension. | |
| const int | nu |
| Control dimension. | |
| const int | nr |
| Function codimension. | |
Detailed Description
template<typename _Scalar>
struct aligator::CentroidalWrapperResidualTpl< _Scalar >
struct aligator::CentroidalWrapperResidualTpl< _Scalar >
This residual acts as a wrapper for centroidal model cost functions in which the external forces are added to the state and the control becomes the forces derivatives.
Definition at line 17 of file centroidal-wrapper.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar>
| using aligator::CentroidalWrapperResidualTpl< _Scalar >::Scalar = _Scalar |
Definition at line 19 of file centroidal-wrapper.hpp.
◆ FunPtr
template<typename _Scalar>
| using aligator::CentroidalWrapperResidualTpl< _Scalar >::FunPtr = xyz::polymorphic<StageFunctionTpl<Scalar>> |
Definition at line 22 of file centroidal-wrapper.hpp.
◆ BaseData
template<typename _Scalar>
| using aligator::CentroidalWrapperResidualTpl< _Scalar >::BaseData = typename Base::Data |
Definition at line 23 of file centroidal-wrapper.hpp.
◆ Data
template<typename _Scalar>
| using aligator::CentroidalWrapperResidualTpl< _Scalar >::Data = CentroidalWrapperDataTpl<Scalar> |
Definition at line 24 of file centroidal-wrapper.hpp.
Constructor & Destructor Documentation
◆ CentroidalWrapperResidualTpl()
template<typename _Scalar>
|
inline |
Definition at line 26 of file centroidal-wrapper.hpp.
Member Function Documentation
◆ ALIGATOR_DYNAMIC_TYPEDEFS()
template<typename _Scalar>
| aligator::CentroidalWrapperResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
◆ ALIGATOR_UNARY_FUNCTION_INTERFACE()
template<typename _Scalar>
| aligator::CentroidalWrapperResidualTpl< _Scalar >::ALIGATOR_UNARY_FUNCTION_INTERFACE | ( | Scalar | ) |
◆ evaluate()
template<typename _Scalar>
| void aligator::CentroidalWrapperResidualTpl< _Scalar >::evaluate | ( | const ConstVectorRef & | x, |
| BaseData & | data ) const |
◆ computeJacobians()
template<typename _Scalar>
| void aligator::CentroidalWrapperResidualTpl< _Scalar >::computeJacobians | ( | const ConstVectorRef & | x, |
| BaseData & | data ) const |
◆ createData()
template<typename _Scalar>
|
inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Definition at line 35 of file centroidal-wrapper.hpp.
Member Data Documentation
◆ centroidal_cost_
template<typename _Scalar>
| FunPtr aligator::CentroidalWrapperResidualTpl< _Scalar >::centroidal_cost_ |
Definition at line 39 of file centroidal-wrapper.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/centroidal/centroidal-wrapper.hpp
