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

Inheritance diagram for aligator::LinearUnaryFunctionCompositionTpl< _Scalar >:

Collaboration diagram for aligator::LinearUnaryFunctionCompositionTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Impl = detail::linear_func_composition_impl<Base>

using	Data = typename Impl::Data

using	BaseData = StageFunctionDataTpl<Scalar>

Public Types inherited from aligator::detail::linear_func_composition_impl< UnaryFunctionTpl< _Scalar > >
using	FunType

using	Scalar

using	BaseData

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

using	Base = StageFunctionTpl<Scalar>

using	Data = StageFunctionDataTpl<Scalar>

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

using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	ALIGATOR_UNARY_FUNCTION_INTERFACE (Scalar)

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.

Public Member Functions inherited from aligator::detail::linear_func_composition_impl< UnaryFunctionTpl< _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::UnaryFunctionTpl< _Scalar >
	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.

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 Attributes
MatrixXs	A

VectorXs	b

shared_ptr< FunType >	func

Public Attributes inherited from aligator::detail::linear_func_composition_impl< UnaryFunctionTpl< _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.