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aligator::CostStackTpl< _Scalar > Struct Template Reference
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 | CostPtr = shared_ptr<CostBase> |
| using | SumCostData = CostStackDataTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<Scalar> |
 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 (shared_ptr< Manifold > space, const int nu, const std::vector< CostPtr > &comps={}, const std::vector< Scalar > &weights={}) | |
| Constructor with a specified dimension, and optional vector of components and weights. | |
| CostStackTpl (const CostPtr &cost) | |
| Constructor from a single CostBase instance. | |
| void | addCost (const CostPtr &cost, const Scalar weight=1.) |
| std::size_t | size () const |
| 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 |
| CostAbstractTpl (shared_ptr< Manifold > space, const int nu) | |
| virtual | ~CostAbstractTpl ()=default |
Public Attributes | |
| std::vector< CostPtr > | components_ |
| std::vector< Scalar > | weights_ |
| Public Attributes inherited from aligator::CostAbstractTpl< _Scalar > | |
| shared_ptr< Manifold > | space |
| State dimension. | |
| int | nu |
| Control dimension. | |
Detailed Description
template<typename _Scalar>
struct aligator::CostStackTpl< _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 16 of file sum-of-costs.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar >
| using aligator::CostStackTpl< _Scalar >::Scalar = _Scalar |
Definition at line 17 of file sum-of-costs.hpp.
◆ CostBase
template<typename _Scalar >
| using aligator::CostStackTpl< _Scalar >::CostBase = CostAbstractTpl<Scalar> |
Definition at line 19 of file sum-of-costs.hpp.
◆ CostData
template<typename _Scalar >
| using aligator::CostStackTpl< _Scalar >::CostData = CostDataAbstractTpl<Scalar> |
Definition at line 20 of file sum-of-costs.hpp.
◆ CostPtr
template<typename _Scalar >
| using aligator::CostStackTpl< _Scalar >::CostPtr = shared_ptr<CostBase> |
Definition at line 21 of file sum-of-costs.hpp.
◆ SumCostData
template<typename _Scalar >
| using aligator::CostStackTpl< _Scalar >::SumCostData = CostStackDataTpl<Scalar> |
Definition at line 22 of file sum-of-costs.hpp.
◆ Manifold
template<typename _Scalar >
| using aligator::CostStackTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 23 of file sum-of-costs.hpp.
Constructor & Destructor Documentation
◆ CostStackTpl() [1/2]
template<typename _Scalar >
| aligator::CostStackTpl< _Scalar >::CostStackTpl | ( | shared_ptr< Manifold > | space, |
| const int | nu, | ||
| const std::vector< CostPtr > & | comps = {}, | ||
| const std::vector< Scalar > & | weights = {} ) |
Constructor with a specified dimension, and optional vector of components and weights.
◆ CostStackTpl() [2/2]
template<typename _Scalar >
| aligator::CostStackTpl< _Scalar >::CostStackTpl | ( | const CostPtr & | 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()
template<typename _Scalar >
| void aligator::CostStackTpl< _Scalar >::addCost | ( | const CostPtr & | cost, |
| const Scalar | weight = 1. ) |
◆ size()
template<typename _Scalar >
| std::size_t aligator::CostStackTpl< _Scalar >::size | ( | ) | const |
◆ evaluate()
template<typename _Scalar >
|
virtual |
Evaluate the cost function.
Implements aligator::CostAbstractTpl< _Scalar >.
◆ computeGradients()
template<typename _Scalar >
|
virtual |
Compute the cost gradients \((\ell_x, \ell_u)\).
Implements aligator::CostAbstractTpl< _Scalar >.
◆ computeHessians()
template<typename _Scalar >
|
virtual |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
Implements aligator::CostAbstractTpl< _Scalar >.
◆ createData()
template<typename _Scalar >
|
virtual |
Reimplemented from aligator::CostAbstractTpl< _Scalar >.
Member Data Documentation
◆ components_
template<typename _Scalar >
| std::vector<CostPtr> aligator::CostStackTpl< _Scalar >::components_ |
Definition at line 25 of file sum-of-costs.hpp.
◆ weights_
template<typename _Scalar >
| std::vector<Scalar> aligator::CostStackTpl< _Scalar >::weights_ |
Definition at line 26 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
