aligator::LinearFunctionCompositionTpl< _Scalar > Struct Template Reference

#include <aligator/modelling/linear-function-composition.hpp>

Inheritance diagram for aligator::LinearFunctionCompositionTpl< _Scalar >:

Collaboration diagram for aligator::LinearFunctionCompositionTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Impl = detail::linear_func_composition_impl<StageFunctionTpl<Scalar>>
using	Base = typename Impl::FunType
using	Data = typename Impl::Data
using	BaseData = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::detail::linear_func_composition_impl< StageFunctionTpl< _Scalar > >
using	FunType
using	Scalar
using	BaseData
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, BaseData &data) const
	Compute Jacobians of this function.
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
Public Member Functions inherited from aligator::detail::linear_func_composition_impl< StageFunctionTpl< _Scalar > >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	linear_func_composition_impl (shared_ptr< FunType > func, const ConstMatrixRef A, const ConstVectorRef b)
	linear_func_composition_impl (shared_ptr< FunType > func, const ConstMatrixRef A)
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 void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default

Public Attributes
MatrixXs	A
VectorXs	b
shared_ptr< FunType >	func
Public Attributes inherited from aligator::detail::linear_func_composition_impl< StageFunctionTpl< _Scalar > >
shared_ptr< FunType >	func
MatrixXs	A
VectorXs	b
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.

Detailed Description

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

Definition at line 52 of file linear-function-composition.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 54 of file linear-function-composition.hpp.

Impl

template<typename _Scalar >

using aligator::LinearFunctionCompositionTpl< _Scalar >::Impl = detail::linear_func_composition_impl<StageFunctionTpl<Scalar>>

Definition at line 56 of file linear-function-composition.hpp.

Base

template<typename _Scalar >

using aligator::LinearFunctionCompositionTpl< _Scalar >::Base = typename Impl::FunType

Definition at line 57 of file linear-function-composition.hpp.

Data

template<typename _Scalar >

using aligator::LinearFunctionCompositionTpl< _Scalar >::Data = typename Impl::Data

Definition at line 58 of file linear-function-composition.hpp.

BaseData

template<typename _Scalar >

using aligator::LinearFunctionCompositionTpl< _Scalar >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 59 of file linear-function-composition.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::LinearFunctionCompositionTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar >

void aligator::LinearFunctionCompositionTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, BaseData & data ) const

virtual

Evaluate the function.

Parameters

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

Implements aligator::StageFunctionTpl< _Scalar >.

computeJacobians()

template<typename _Scalar >

void aligator::LinearFunctionCompositionTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, BaseData & data ) const

virtual

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 >.

createData()

template<typename _Scalar >

shared_ptr< BaseData > aligator::detail::linear_func_composition_impl< _FunType >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::detail::linear_func_composition_impl< StageFunctionTpl< _Scalar > >.

Definition at line 45 of file linear-function-composition.hpp.

Member Data Documentation

A

template<typename _Scalar >

MatrixXs aligator::detail::linear_func_composition_impl< _FunType >::A

Definition at line 17 of file linear-function-composition.hpp.

b

template<typename _Scalar >

VectorXs aligator::detail::linear_func_composition_impl< _FunType >::b

Definition at line 18 of file linear-function-composition.hpp.

func

template<typename _Scalar >

shared_ptr<FunType> aligator::detail::linear_func_composition_impl< _FunType >::func

Definition at line 16 of file linear-function-composition.hpp.

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

• include/aligator/modelling/linear-function-composition.hpp