Represents a function of which the output is a subset of another function, for instance \(x \mapsto f_\{0, 1, 3\}(x) \) where \(f\) is given. More...

#include <aligator/modelling/function-xpr-slice.hpp>

Inheritance diagram for aligator::FunctionSliceXprTpl< Scalar, Base >:

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Collaboration diagram for aligator::FunctionSliceXprTpl< Scalar, Base >:

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Public Types
using	BaseData = StageFunctionDataTpl<Scalar>

using	SliceImpl = detail::slice_impl_tpl<StageFunctionTpl<Scalar>>

using	Data = FunctionSliceDataTpl<Scalar>

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

using	Data = StageFunctionDataTpl<Scalar>

Public Types inherited from aligator::detail::slice_impl_tpl< Base >
using	Scalar = typename Base::Scalar

using	BaseData = StageFunctionDataTpl<Scalar>

using	Data = FunctionSliceDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	FunctionSliceXprTpl (shared_ptr< Base > func, std::vector< int > const &indices)

	FunctionSliceXprTpl (shared_ptr< Base > func, const int idx)

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const override
	Evaluate the function.

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const override
	Compute Jacobians of this function.

void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, BaseData &data) const override
	Compute the vector-hessian products of this function.

shared_ptr< BaseData >	createData () const override
	Instantiate a Data object.

Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	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

Public Member Functions inherited from aligator::detail::slice_impl_tpl< Base >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	slice_impl_tpl (shared_ptr< Base > func, std::vector< int > const &indices)

	slice_impl_tpl (shared_ptr< Base > func, int idx)

Additional Inherited Members
Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.

const int	nu
	Control dimension.

const int	ndx2
	Next state dimension.

const int	nr
	Function codimension.

Public Attributes inherited from aligator::detail::slice_impl_tpl< Base >
shared_ptr< Base >	func

std::vector< int >	indices

Protected Member Functions inherited from aligator::detail::slice_impl_tpl< Base >
template<typename... Args>
void	evaluate_impl (BaseData &data, Args &&...args) const

template<typename... Args>
void	computeJacobians_impl (BaseData &data, Args &&...args) const

template<typename... Args>
void	computeVectorHessianProducts_impl (BaseData &data, const ConstVectorRef &lbda, Args &&...args) const

Detailed Description

template<typename Scalar, typename Base = StageFunctionTpl<Scalar>>
struct aligator::FunctionSliceXprTpl< Scalar, Base >

Represents a function of which the output is a subset of another function, for instance \(x \mapsto f_\{0, 1, 3\}(x) \) where \(f\) is given.

Definition at line 20 of file function-xpr-slice.hpp.

Member Typedef Documentation

◆ BaseData

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

using aligator::FunctionSliceXprTpl< Scalar, Base >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 22 of file function-xpr-slice.hpp.

◆ SliceImpl

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

using aligator::FunctionSliceXprTpl< Scalar, Base >::SliceImpl = detail::slice_impl_tpl<StageFunctionTpl<Scalar>>

Definition at line 23 of file function-xpr-slice.hpp.

◆ Data

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

using aligator::FunctionSliceXprTpl< Scalar, Base >::Data = FunctionSliceDataTpl<Scalar>

Definition at line 24 of file function-xpr-slice.hpp.

Constructor & Destructor Documentation

◆ FunctionSliceXprTpl() [1/2]

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

aligator::FunctionSliceXprTpl< Scalar, Base >::FunctionSliceXprTpl	(	shared_ptr< Base >	func,
		std::vector< int > const &	indices )

inline

Definition at line 26 of file function-xpr-slice.hpp.

◆ FunctionSliceXprTpl() [2/2]

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

aligator::FunctionSliceXprTpl< Scalar, Base >::FunctionSliceXprTpl	(	shared_ptr< Base >	func,
		const int	idx )

inline

Definition at line 30 of file function-xpr-slice.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

aligator::FunctionSliceXprTpl< Scalar, Base >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

void aligator::FunctionSliceXprTpl< Scalar, Base >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		BaseData &	data ) const

inlineoverridevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 33 of file function-xpr-slice.hpp.

◆ computeJacobians()

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

void aligator::FunctionSliceXprTpl< Scalar, Base >::computeJacobians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		BaseData &	data ) const

inlineoverridevirtual

Compute Jacobians of this function.

This computes the Jacobians \( (\frac{\partial f}{\partial x}, \frac{\partial f}{\partial u}, \frac{\partial f}{\partial x'}) \)

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 39 of file function-xpr-slice.hpp.

◆ computeVectorHessianProducts()

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

void aligator::FunctionSliceXprTpl< Scalar, Base >::computeVectorHessianProducts	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		const ConstVectorRef &	lbda,
		BaseData &	data ) const

inlineoverridevirtual

Compute the vector-hessian products of this function.

Parameters

x	Current state.
u	Controls.
y	Next state.
lbda	Multiplier estimate.
data	Data holding struct.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 45 of file function-xpr-slice.hpp.

◆ createData()

template<typename Scalar , typename Base = StageFunctionTpl<Scalar>>

shared_ptr< BaseData > aligator::FunctionSliceXprTpl< Scalar, Base >::createData ( ) const

inlineoverridevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 53 of file function-xpr-slice.hpp.

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

include/aligator/fwd.hpp
include/aligator/modelling/function-xpr-slice.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseData

◆ SliceImpl

◆ Data

Constructor & Destructor Documentation

◆ FunctionSliceXprTpl() [1/2]

◆ FunctionSliceXprTpl() [2/2]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ evaluate()

◆ computeJacobians()

◆ computeVectorHessianProducts()

◆ createData()