Constant cost. More...
#include <aligator/modelling/costs/constant-cost.hpp>
Public Types | |
using | Scalar = _Scalar |
using | Base = CostAbstractTpl<Scalar> |
using | CostData = CostDataAbstractTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
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using | Scalar = _Scalar |
using | CostData = CostDataAbstractTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
ConstantCostTpl (xyz::polymorphic< Manifold > space, const int nu, const Scalar value) | |
void | evaluate (const ConstVectorRef &, const ConstVectorRef &, CostData &data) const override |
Evaluate the cost function. | |
void | computeGradients (const ConstVectorRef &, const ConstVectorRef &, CostData &) const override |
Compute the cost gradients \((\ell_x, \ell_u)\). | |
void | computeHessians (const ConstVectorRef &, const ConstVectorRef &, CostData &) const override |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\). | |
shared_ptr< CostData > | createData () const override |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
int | nx () const |
int | ndx () const |
template<class U> | |
CostAbstractTpl (U &&space, const int nu) | |
virtual | ~CostAbstractTpl ()=default |
Public Attributes | |
Scalar | value_ |
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xyz::polymorphic< Manifold > | space |
State dimension. | |
int | nu |
Control dimension. | |
Constant cost.
Definition at line 8 of file constant-cost.hpp.
using aligator::ConstantCostTpl< _Scalar >::Scalar = _Scalar |
Definition at line 9 of file constant-cost.hpp.
using aligator::ConstantCostTpl< _Scalar >::Base = CostAbstractTpl<Scalar> |
Definition at line 11 of file constant-cost.hpp.
using aligator::ConstantCostTpl< _Scalar >::CostData = CostDataAbstractTpl<Scalar> |
Definition at line 12 of file constant-cost.hpp.
using aligator::ConstantCostTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 13 of file constant-cost.hpp.
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inline |
Definition at line 16 of file constant-cost.hpp.
aligator::ConstantCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlineoverridevirtual |
Evaluate the cost function.
Reimplemented from aligator::CostAbstractTpl< _Scalar >.
Definition at line 19 of file constant-cost.hpp.
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inlineoverridevirtual |
Compute the cost gradients \((\ell_x, \ell_u)\).
Reimplemented from aligator::CostAbstractTpl< _Scalar >.
Definition at line 24 of file constant-cost.hpp.
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inlineoverridevirtual |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
Reimplemented from aligator::CostAbstractTpl< _Scalar >.
Definition at line 27 of file constant-cost.hpp.
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inlineoverridevirtual |
Reimplemented from aligator::CostAbstractTpl< _Scalar >.
Definition at line 30 of file constant-cost.hpp.
Scalar aligator::ConstantCostTpl< _Scalar >::value_ |
Definition at line 15 of file constant-cost.hpp.