aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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A port of sobec's ResidualModelFlyHighTpl. More...
#include <aligator/modelling/multibody/fly-high.hpp>
Classes | |
struct | Data |
Public Types | |
using | Scalar = _Scalar |
using | Base = UnaryFunctionTpl<Scalar> |
using | BaseData = StageFunctionDataTpl<Scalar> |
using | PhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<Scalar> |
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using | Scalar = _Scalar |
using | Base = StageFunctionTpl<Scalar> |
using | Data = StageFunctionDataTpl<Scalar> |
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using | Scalar = _Scalar |
using | Data = StageFunctionDataTpl<Scalar> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
FlyHighResidualTpl (shared_ptr< PhaseSpace > space, const pinocchio::FrameIndex frame_id, Scalar slope, int nu) | |
void | evaluate (const ConstVectorRef &x, BaseData &data) const |
void | computeJacobians (const ConstVectorRef &x, BaseData &data) const |
shared_ptr< BaseData > | createData () const |
Instantiate a Data object. | |
const auto & | getModel () const |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
virtual void | computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const |
void | evaluate (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override |
Evaluate the function. | |
void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override |
Compute Jacobians of this function. | |
void | computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override |
Compute the vector-hessian products of this function. | |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr) | |
StageFunctionTpl (const int ndx, const int nu, const int nr) | |
Constructor where ndx2 = ndx1. | |
virtual | ~StageFunctionTpl ()=default |
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pinocchio::FrameIndex | getFrameId () const |
void | setFrameId (const std::size_t id) |
Public Attributes | |
Scalar | slope_ |
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const int | ndx1 |
Current state dimension. | |
const int | nu |
Control dimension. | |
const int | ndx2 |
Next state dimension. | |
const int | nr |
Function codimension. | |
Static Public Attributes | |
static constexpr int | NR = 2 |
Additional Inherited Members | |
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pinocchio::FrameIndex | pin_frame_id_ |
A port of sobec's ResidualModelFlyHighTpl.
Definition at line 12 of file fly-high.hpp.
using aligator::FlyHighResidualTpl< _Scalar >::Scalar = _Scalar |
Definition at line 13 of file fly-high.hpp.
using aligator::FlyHighResidualTpl< _Scalar >::Base = UnaryFunctionTpl<Scalar> |
Definition at line 17 of file fly-high.hpp.
using aligator::FlyHighResidualTpl< _Scalar >::BaseData = StageFunctionDataTpl<Scalar> |
Definition at line 18 of file fly-high.hpp.
using aligator::FlyHighResidualTpl< _Scalar >::PhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<Scalar> |
Definition at line 19 of file fly-high.hpp.
aligator::FlyHighResidualTpl< _Scalar >::FlyHighResidualTpl | ( | shared_ptr< PhaseSpace > | space, |
const pinocchio::FrameIndex | frame_id, | ||
Scalar | slope, | ||
int | nu ) |
aligator::FlyHighResidualTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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virtual |
Implements aligator::UnaryFunctionTpl< _Scalar >.
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virtual |
Implements aligator::UnaryFunctionTpl< _Scalar >.
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inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Definition at line 30 of file fly-high.hpp.
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inline |
Definition at line 34 of file fly-high.hpp.
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staticconstexpr |
Definition at line 15 of file fly-high.hpp.
Scalar aligator::FlyHighResidualTpl< _Scalar >::slope_ |
Definition at line 36 of file fly-high.hpp.