aligator::ControlBoxFunctionTpl< _Scalar > Struct Template Reference

A simple function \(f(u) = [u_{\min} - u; u - u_{\max}]\). More...

#include <aligator/modelling/control-box-function.hpp>

Inheritance diagram for aligator::ControlBoxFunctionTpl< _Scalar >:

Collaboration diagram for aligator::ControlBoxFunctionTpl< _Scalar >:

Public Types
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)
	ControlBoxFunctionTpl (const int ndx, const VectorXs &umin, const VectorXs &umax)
	Standard constructor: takes state space dimension and desired control bounds as vectors.
	ControlBoxFunctionTpl (const int ndx, const int nu, const Scalar umin, const Scalar umax)
	Constructor which takes control bounds as scalars cast into vectors of appropriate dimension.
void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
virtual shared_ptr< Data >	createData () const override
	Instantiate a Data object.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Public Attributes
VectorXs	umin_
VectorXs	umax_
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::ControlBoxFunctionTpl< _Scalar >

A simple function \(f(u) = [u_{\min} - u; u - u_{\max}]\).

Note

This function was initially meant to be used along with NegativeOrthantTpl to create control bound constraints. For this purpose, please use BoxConstraintTpl instead.

Deprecated

This class is not meant to be used anymore, and has been deprecated. It might be removed in the future. Use BoxContraintTpl to implement control bounds. See related note.

Definition at line 16 of file control-box-function.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::ControlBoxFunctionTpl< _Scalar >::Scalar = _Scalar

Definition at line 19 of file control-box-function.hpp.

Base

template<typename _Scalar>

using aligator::ControlBoxFunctionTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 21 of file control-box-function.hpp.

Data

template<typename _Scalar>

using aligator::ControlBoxFunctionTpl< _Scalar >::Data = StageFunctionDataTpl<Scalar>

Definition at line 22 of file control-box-function.hpp.

Constructor & Destructor Documentation

ControlBoxFunctionTpl() [1/2]

template<typename _Scalar>

aligator::ControlBoxFunctionTpl< _Scalar >::ControlBoxFunctionTpl	(	const int	ndx,
		const VectorXs &	umin,
		const VectorXs &	umax )

Standard constructor: takes state space dimension and desired control bounds as vectors.

ControlBoxFunctionTpl() [2/2]

template<typename _Scalar>

aligator::ControlBoxFunctionTpl< _Scalar >::ControlBoxFunctionTpl	(	const int	ndx,
		const int	nu,
		const Scalar	umin,
		const Scalar	umax )

Constructor which takes control bounds as scalars cast into vectors of appropriate dimension.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::ControlBoxFunctionTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar>

void aligator::ControlBoxFunctionTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, Data & data ) const

overridevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

computeJacobians()

template<typename _Scalar>

void aligator::ControlBoxFunctionTpl< _Scalar >::computeJacobians ( const ConstVectorRef & , const ConstVectorRef & , Data & data ) const

overridevirtual

Compute Jacobians of this function.

This implementation does nothing: the values of the Jacobians are already set in createData().

Implements aligator::StageFunctionTpl< _Scalar >.

createData()

template<typename _Scalar>

virtual shared_ptr< Data > aligator::ControlBoxFunctionTpl< _Scalar >::createData ( ) const

overridevirtual

Instantiate a Data object.

This override sets the appropriate values of the Jacobians.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Member Data Documentation

umin_

template<typename _Scalar>

VectorXs aligator::ControlBoxFunctionTpl< _Scalar >::umin_

Definition at line 24 of file control-box-function.hpp.

umax_

template<typename _Scalar>

VectorXs aligator::ControlBoxFunctionTpl< _Scalar >::umax_

Definition at line 24 of file control-box-function.hpp.

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The documentation for this struct was generated from the following file:

• include/aligator/modelling/control-box-function.hpp