aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/modelling/costs/cost-direct-sum.hpp>
Classes | |
struct | Data |
Public Types | |
using | Scalar = _Scalar |
using | BaseCost = CostAbstractTpl<Scalar> |
using | BaseData = CostDataAbstractTpl<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) | |
DirectSumCostTpl (shared_ptr< BaseCost > c1, shared_ptr< BaseCost > c2) | |
shared_ptr< BaseData > | createData () const override |
void | evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override |
Evaluate the cost function. | |
void | computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override |
Compute the cost gradients \((\ell_x, \ell_u)\). | |
void | computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const override |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\). | |
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 | |
shared_ptr< BaseCost > | c1_ |
shared_ptr< BaseCost > | c2_ |
Public Attributes inherited from aligator::CostAbstractTpl< _Scalar > | |
shared_ptr< Manifold > | space |
State dimension. | |
int | nu |
Control dimension. | |
Definition at line 10 of file cost-direct-sum.hpp.
using aligator::DirectSumCostTpl< _Scalar >::Scalar = _Scalar |
Definition at line 11 of file cost-direct-sum.hpp.
using aligator::DirectSumCostTpl< _Scalar >::BaseCost = CostAbstractTpl<Scalar> |
Definition at line 13 of file cost-direct-sum.hpp.
using aligator::DirectSumCostTpl< _Scalar >::BaseData = CostDataAbstractTpl<Scalar> |
Definition at line 14 of file cost-direct-sum.hpp.
using aligator::DirectSumCostTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 15 of file cost-direct-sum.hpp.
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inline |
Definition at line 19 of file cost-direct-sum.hpp.
aligator::DirectSumCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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overridevirtual |
Reimplemented from aligator::CostAbstractTpl< _Scalar >.
Definition at line 118 of file cost-direct-sum.hpp.
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overridevirtual |
Evaluate the cost function.
Implements aligator::CostAbstractTpl< _Scalar >.
Definition at line 52 of file cost-direct-sum.hpp.
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overridevirtual |
Compute the cost gradients \((\ell_x, \ell_u)\).
Implements aligator::CostAbstractTpl< _Scalar >.
Definition at line 68 of file cost-direct-sum.hpp.
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overridevirtual |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
Implements aligator::CostAbstractTpl< _Scalar >.
Definition at line 90 of file cost-direct-sum.hpp.
shared_ptr<BaseCost> aligator::DirectSumCostTpl< _Scalar >::c1_ |
Definition at line 24 of file cost-direct-sum.hpp.
shared_ptr<BaseCost> aligator::DirectSumCostTpl< _Scalar >::c2_ |
Definition at line 24 of file cost-direct-sum.hpp.