aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/modelling/costs/sum-of-costs.hpp>
Public Types | |
using | Scalar = _Scalar |
using | CostData = CostDataAbstractTpl<Scalar> |
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using | Scalar = _Scalar |
Public Member Functions | |
CostStackDataTpl (const CostStackTpl< Scalar > &obj) | |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
CostDataAbstractTpl (const int ndx, const int nu) | |
CostDataAbstractTpl (const CostAbstractTpl< Scalar > &cost) | |
virtual | ~CostDataAbstractTpl ()=default |
Public Attributes | |
std::vector< shared_ptr< CostData > > | sub_cost_data |
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int | ndx_ |
int | nu_ |
Scalar | value_ |
VectorXs | grad_ |
MatrixXs | hess_ |
VectorRef | Lx_ |
Gradient \(\ell_x\). | |
VectorRef | Lu_ |
Gradient \(\ell_u\). | |
MatrixRef | Lxx_ |
Hessian \(\ell_{xx}\). | |
MatrixRef | Lxu_ |
Hessian \(\ell_{xu}\). | |
MatrixRef | Lux_ |
Hessian \(\ell_{ux}\). | |
MatrixRef | Luu_ |
Hessian \(\ell_{uu}\). | |
Definition at line 105 of file sum-of-costs.hpp.
using aligator::CostStackDataTpl< _Scalar >::Scalar = _Scalar |
Definition at line 106 of file sum-of-costs.hpp.
using aligator::CostStackDataTpl< _Scalar >::CostData = CostDataAbstractTpl<Scalar> |
Definition at line 107 of file sum-of-costs.hpp.
aligator::CostStackDataTpl< _Scalar >::CostStackDataTpl | ( | const CostStackTpl< Scalar > & | obj | ) |
std::vector<shared_ptr<CostData> > aligator::CostStackDataTpl< _Scalar >::sub_cost_data |
Definition at line 108 of file sum-of-costs.hpp.