Weighted sum of multiple cost components. More...

#include <aligator/modelling/costs/sum-of-costs.hpp>

Inheritance diagram for aligator::CostStackTpl< _Scalar >:

Collaboration diagram for aligator::CostStackTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	CostBase = CostAbstractTpl<Scalar>

using	CostData = CostDataAbstractTpl<Scalar>

using	PolyCost = xyz::polymorphic<CostBase>

using	SumCostData = CostStackDataTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	CostItem = std::pair<PolyCost, Scalar>

using	CostKey = std::variant<std::size_t, std::string>

using	CostMap = boost::unordered::unordered_map<CostKey, CostItem>

using	CostIterator = typename CostMap::iterator

Public Types inherited from aligator::CostAbstractTpl< _Scalar >
using	Scalar = _Scalar

using	CostData = CostDataAbstractTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

bool	checkDimension (const CostBase &comp) const
	Check the dimension of a component.

	CostStackTpl (xyz::polymorphic< Manifold > space, const int nu, const std::vector< PolyCost > &comps={}, const std::vector< Scalar > &weights={})
	Constructor with a specified dimension, and optional vector of components and weights.

	CostStackTpl (xyz::polymorphic< Manifold > space, const int nu, const CostMap &comps)

	CostStackTpl (const PolyCost &cost)
	Constructor from a single CostBase instance.

CostItem &	addCost (const PolyCost &cost, const Scalar weight=1.)

CostItem &	addCost (const CostKey &key, const PolyCost &cost, const Scalar weight=1.)

std::size_t	size () const

template<typename Derived>
Derived *	getComponent (const CostKey &key)
	Get component, cast down to the specified type.

template<typename Derived>
const Derived *	getComponent (const CostKey &key) const
	Get component, cast down to the specified type.

Scalar	getWeight (const CostKey &key) const
	Get weight for a given component.

Scalar &	getWeight (const CostKey &key)
	Get weight for a given component.

CostStackTpl &	setWeight (const CostKey &key, const Scalar value)
	Set the weight for a given component.

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Evaluate the cost function.

void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Compute the cost gradients \((\ell_x, \ell_u)\).

void	computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

shared_ptr< CostData >	createData () const

Public Member Functions inherited from aligator::CostAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

template<class U>
	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

Public Attributes
CostMap	components_

Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

Detailed Description

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

Weighted sum of multiple cost components.

This is expressed as

\[ \ell(x, u) = \sum_{k=1}^{K} \ell^{(k)}(x, u). \]

Definition at line 19 of file sum-of-costs.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 20 of file sum-of-costs.hpp.

◆ CostBase

template<typename _Scalar>

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

Definition at line 22 of file sum-of-costs.hpp.

◆ CostData

template<typename _Scalar>

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

Definition at line 23 of file sum-of-costs.hpp.

◆ PolyCost

template<typename _Scalar>

using aligator::CostStackTpl< _Scalar >::PolyCost = xyz::polymorphic<CostBase>

Definition at line 24 of file sum-of-costs.hpp.

◆ SumCostData

template<typename _Scalar>

using aligator::CostStackTpl< _Scalar >::SumCostData = CostStackDataTpl<Scalar>

Definition at line 25 of file sum-of-costs.hpp.

◆ Manifold

template<typename _Scalar>

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

Definition at line 26 of file sum-of-costs.hpp.

◆ CostItem

template<typename _Scalar>

using aligator::CostStackTpl< _Scalar >::CostItem = std::pair<PolyCost, Scalar>

Definition at line 27 of file sum-of-costs.hpp.

◆ CostKey

template<typename _Scalar>

using aligator::CostStackTpl< _Scalar >::CostKey = std::variant<std::size_t, std::string>

Definition at line 28 of file sum-of-costs.hpp.

◆ CostMap

template<typename _Scalar>

using aligator::CostStackTpl< _Scalar >::CostMap = boost::unordered::unordered_map<CostKey, CostItem>

Definition at line 29 of file sum-of-costs.hpp.

◆ CostIterator

template<typename _Scalar>

using aligator::CostStackTpl< _Scalar >::CostIterator = typename CostMap::iterator

Definition at line 30 of file sum-of-costs.hpp.

Constructor & Destructor Documentation

◆ CostStackTpl() [1/3]

template<typename _Scalar>

aligator::CostStackTpl< _Scalar >::CostStackTpl	(	xyz::polymorphic< Manifold >	space,
		const int	nu,
		const std::vector< PolyCost > &	comps = {},
		const std::vector< Scalar > &	weights = {} )

Constructor with a specified dimension, and optional vector of components and weights.

◆ CostStackTpl() [2/3]

template<typename _Scalar>

aligator::CostStackTpl< _Scalar >::CostStackTpl	(	xyz::polymorphic< Manifold >	space,
		const int	nu,
		const CostMap &	comps )

inline

Definition at line 45 of file sum-of-costs.hpp.

◆ CostStackTpl() [3/3]

template<typename _Scalar>

aligator::CostStackTpl< _Scalar >::CostStackTpl ( const PolyCost & cost )

Constructor from a single CostBase instance.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::CostStackTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ checkDimension()

template<typename _Scalar>

bool aligator::CostStackTpl< _Scalar >::checkDimension ( const CostBase & comp ) const

Check the dimension of a component.

Returns: A bool value indicating whether the component is OK to be added to this instance.

◆ addCost() [1/2]

template<typename _Scalar>

CostItem & aligator::CostStackTpl< _Scalar >::addCost	(	const PolyCost &	cost,
		const Scalar	weight = 1. )

inline

Definition at line 63 of file sum-of-costs.hpp.

◆ addCost() [2/2]

template<typename _Scalar>

CostItem & aligator::CostStackTpl< _Scalar >::addCost	(	const CostKey &	key,
		const PolyCost &	cost,
		const Scalar	weight = 1. )

◆ size()

template<typename _Scalar>

std::size_t aligator::CostStackTpl< _Scalar >::size ( ) const

inline

Definition at line 71 of file sum-of-costs.hpp.

◆ getComponent() [1/2]

template<typename _Scalar>

template<typename Derived>

Derived * aligator::CostStackTpl< _Scalar >::getComponent ( const CostKey & key )

inline

Get component, cast down to the specified type.

Definition at line 74 of file sum-of-costs.hpp.

◆ getComponent() [2/2]

template<typename _Scalar>

template<typename Derived>

const Derived * aligator::CostStackTpl< _Scalar >::getComponent ( const CostKey & key ) const

inline

Get component, cast down to the specified type.

Definition at line 81 of file sum-of-costs.hpp.

◆ getWeight() [1/2]

template<typename _Scalar>

Scalar aligator::CostStackTpl< _Scalar >::getWeight ( const CostKey & key ) const

inline

Get weight for a given component.

Definition at line 87 of file sum-of-costs.hpp.

◆ getWeight() [2/2]

template<typename _Scalar>

Scalar & aligator::CostStackTpl< _Scalar >::getWeight ( const CostKey & key )

inline

Get weight for a given component.

Returns: A mutable reference to the weight.

Definition at line 94 of file sum-of-costs.hpp.

◆ setWeight()

template<typename _Scalar>

CostStackTpl & aligator::CostStackTpl< _Scalar >::setWeight	(	const CostKey &	key,
		const Scalar	value )

inline

Set the weight for a given component.

Returns: Reference to this.

Definition at line 101 of file sum-of-costs.hpp.

◆ evaluate()

template<typename _Scalar>

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

virtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

◆ computeGradients()

template<typename _Scalar>

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

virtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

◆ computeHessians()

template<typename _Scalar>

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

virtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

shared_ptr< CostData > aligator::CostStackTpl< _Scalar >::createData ( ) const

virtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Member Data Documentation

◆ components_

template<typename _Scalar>

CostMap aligator::CostStackTpl< _Scalar >::components_

Definition at line 32 of file sum-of-costs.hpp.

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

include/aligator/modelling/costs/sum-of-costs.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ CostBase

◆ CostData

◆ PolyCost

◆ SumCostData

◆ Manifold

◆ CostItem

◆ CostKey

◆ CostMap

◆ CostIterator

Constructor & Destructor Documentation

◆ CostStackTpl() [1/3]

◆ CostStackTpl() [2/3]

◆ CostStackTpl() [3/3]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ checkDimension()

◆ addCost() [1/2]

◆ addCost() [2/2]

◆ size()

◆ getComponent() [1/2]

◆ getComponent() [2/2]

◆ getWeight() [1/2]

◆ getWeight() [2/2]

◆ setWeight()

◆ evaluate()

◆ computeGradients()

◆ computeHessians()

◆ createData()

Member Data Documentation

◆ components_