aligator::CostAbstractTpl< _Scalar > Struct Template Reference

Stage costs \( \ell(x, u) \) for control problems. More...

#include <aligator/core/cost-abstract.hpp>

Inheritance diagram for aligator::CostAbstractTpl< _Scalar >:

Collaboration diagram for aligator::CostAbstractTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	CostData = CostDataAbstractTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	nx () const
int	ndx () const
template<class U>
	CostAbstractTpl (U &&space, const int nu)
virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Evaluate the cost function.
virtual void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Compute the cost gradients \((\ell_x, \ell_u)\).
virtual void	computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
virtual shared_ptr< CostData >	createData () const
virtual	~CostAbstractTpl ()=default

Public Attributes
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

template<typename _Scalar>
struct aligator::CostAbstractTpl< _Scalar >

Stage costs \( \ell(x, u) \) for control problems.

Definition at line 13 of file cost-abstract.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

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

Definition at line 14 of file cost-abstract.hpp.

CostData

template<typename _Scalar>

using aligator::CostAbstractTpl< _Scalar >::CostData = CostDataAbstractTpl<Scalar>

Definition at line 16 of file cost-abstract.hpp.

Manifold

template<typename _Scalar>

using aligator::CostAbstractTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 17 of file cost-abstract.hpp.

Constructor & Destructor Documentation

CostAbstractTpl()

template<typename _Scalar>

template<class U>

aligator::CostAbstractTpl< _Scalar >::CostAbstractTpl ( U && space, const int nu )

inline

Definition at line 28 of file cost-abstract.hpp.

~CostAbstractTpl()

template<typename _Scalar>

virtual aligator::CostAbstractTpl< _Scalar >::~CostAbstractTpl ( )

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::CostAbstractTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

nx()

template<typename _Scalar>

int aligator::CostAbstractTpl< _Scalar >::nx ( ) const

inline

Definition at line 24 of file cost-abstract.hpp.

ndx()

template<typename _Scalar>

int aligator::CostAbstractTpl< _Scalar >::ndx ( ) const

inline

Definition at line 25 of file cost-abstract.hpp.

evaluate()

template<typename Scalar>

void aligator::CostAbstractTpl< Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

virtual

Evaluate the cost function.

Reimplemented in aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data, aligator::autodiff::CostFiniteDifferenceHelper< Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::ConstantCostTpl< _Scalar >, aligator::CostStackTpl< _Scalar >, aligator::CostStackTpl< Scalar >, aligator::CostStackTpl< Scalar >, aligator::DirectSumCostTpl< _Scalar >, aligator::DirectSumCostTpl< Scalar >::Data, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::LogResidualCostTpl< Scalar >, aligator::python::PyCostFunction, aligator::QuadraticCostTpl< _Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< _Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, and aligator::RelaxedLogBarrierCostTpl< Scalar >.

Definition at line 52 of file cost-abstract.hpp.

computeGradients()

template<typename Scalar>

void aligator::CostAbstractTpl< Scalar >::computeGradients ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

virtual

Compute the cost gradients \((\ell_x, \ell_u)\).

Reimplemented in aligator::autodiff::CostFiniteDifferenceHelper< Scalar >, aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data, aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::ConstantCostTpl< _Scalar >, aligator::CostStackTpl< _Scalar >, aligator::CostStackTpl< Scalar >, aligator::CostStackTpl< Scalar >, aligator::DirectSumCostTpl< _Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >::Data, aligator::LogResidualCostTpl< Scalar >, aligator::python::PyCostFunction, aligator::QuadraticCostTpl< _Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< _Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, and aligator::RelaxedLogBarrierCostTpl< Scalar >.

Definition at line 59 of file cost-abstract.hpp.

computeHessians()

template<typename Scalar>

void aligator::CostAbstractTpl< Scalar >::computeHessians ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

virtual

Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

Reimplemented in aligator::autodiff::CostFiniteDifferenceHelper< Scalar >, aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data, aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::ConstantCostTpl< _Scalar >, aligator::CostStackTpl< _Scalar >, aligator::CostStackTpl< Scalar >, aligator::CostStackTpl< Scalar >, aligator::DirectSumCostTpl< _Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >::Data, aligator::LogResidualCostTpl< Scalar >, aligator::python::PyCostFunction, aligator::QuadraticCostTpl< _Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< _Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, and aligator::RelaxedLogBarrierCostTpl< Scalar >.

Definition at line 66 of file cost-abstract.hpp.

createData()

template<typename _Scalar>

virtual shared_ptr< CostData > aligator::CostAbstractTpl< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented in aligator::autodiff::CostFiniteDifferenceHelper< Scalar >, aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data, aligator::compat::croc::CrocCostModelWrapperTpl< _Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::compat::croc::CrocCostModelWrapperTpl< Scalar >, aligator::ConstantCostTpl< _Scalar >, aligator::CostStackTpl< _Scalar >, aligator::CostStackTpl< Scalar >, aligator::CostStackTpl< Scalar >, aligator::DirectSumCostTpl< _Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >, aligator::DirectSumCostTpl< Scalar >::Data, aligator::LogResidualCostTpl< Scalar >, aligator::python::PyCostFunction, aligator::QuadraticCostTpl< _Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< _Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, aligator::QuadraticResidualCostTpl< Scalar >, and aligator::RelaxedLogBarrierCostTpl< Scalar >.

Definition at line 44 of file cost-abstract.hpp.

Member Data Documentation

space

template<typename _Scalar>

xyz::polymorphic<Manifold> aligator::CostAbstractTpl< _Scalar >::space

State dimension.

Definition at line 20 of file cost-abstract.hpp.

nu

template<typename _Scalar>

int aligator::CostAbstractTpl< _Scalar >::nu

Control dimension.

Definition at line 22 of file cost-abstract.hpp.

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

• include/aligator/core/cost-abstract.hpp