Log-barrier of an underlying cost function. More...

#include <aligator/modelling/costs/log-residual-cost.hpp>

Inheritance diagram for aligator::LogResidualCostTpl< Scalar >:

Collaboration diagram for aligator::LogResidualCostTpl< Scalar >:

Public Types
using	CostDataAbstract = CostDataAbstractTpl<Scalar>

using	Data = CompositeCostDataTpl<Scalar>

using	StageFunction = StageFunctionTpl<Scalar>

using	Base = CostAbstractTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

Public Types inherited from aligator::CostAbstractTpl< Scalar >
using	Scalar

using	CostData

using	Manifold

using	Scalar

using	CostData

using	Manifold

using	Scalar

using	CostData

using	Manifold

using	Scalar

using	CostData

using	Manifold

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	LogResidualCostTpl (xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > function, const ConstVectorRef &scale)

	LogResidualCostTpl (xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > function, const Scalar scale)

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostDataAbstract &data) const
	Evaluate the cost function.

void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostDataAbstract &data) const
	Compute the cost gradients \((\ell_x, \ell_u)\).

void	computeHessians (const ConstVectorRef &, const ConstVectorRef &, CostDataAbstract &data) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

shared_ptr< CostDataAbstract >	createData () const

template<typename Derived>
Derived *	getResidual ()
	Get a pointer to the underlying type of the residual, by attempting to cast.

template<typename Derived>
const Derived *	getResidual () const
	Get a pointer to the underlying type of the residual, by attempting to cast.

Public Member Functions inherited from aligator::CostAbstractTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

Public Attributes
VectorXs	barrier_weights_

xyz::polymorphic< StageFunction >	residual_

Public Attributes inherited from aligator::CostAbstractTpl< Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

Detailed Description

template<typename Scalar>
struct aligator::LogResidualCostTpl< Scalar >

Log-barrier of an underlying cost function.

Definition at line 10 of file log-residual-cost.hpp.

Member Typedef Documentation

◆ CostDataAbstract

template<typename Scalar>

using aligator::LogResidualCostTpl< Scalar >::CostDataAbstract = CostDataAbstractTpl<Scalar>

Definition at line 12 of file log-residual-cost.hpp.

◆ Data

template<typename Scalar>

using aligator::LogResidualCostTpl< Scalar >::Data = CompositeCostDataTpl<Scalar>

Definition at line 13 of file log-residual-cost.hpp.

◆ StageFunction

template<typename Scalar>

using aligator::LogResidualCostTpl< Scalar >::StageFunction = StageFunctionTpl<Scalar>

Definition at line 14 of file log-residual-cost.hpp.

◆ Base

template<typename Scalar>

using aligator::LogResidualCostTpl< Scalar >::Base = CostAbstractTpl<Scalar>

Definition at line 15 of file log-residual-cost.hpp.

◆ Manifold

template<typename Scalar>

using aligator::LogResidualCostTpl< Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 16 of file log-residual-cost.hpp.

Constructor & Destructor Documentation

◆ LogResidualCostTpl() [1/2]

template<typename Scalar>

aligator::LogResidualCostTpl< Scalar >::LogResidualCostTpl	(	xyz::polymorphic< Manifold >	space,
		xyz::polymorphic< StageFunction >	function,
		const ConstVectorRef &	scale )

◆ LogResidualCostTpl() [2/2]

template<typename Scalar>

aligator::LogResidualCostTpl< Scalar >::LogResidualCostTpl	(	xyz::polymorphic< Manifold >	space,
		xyz::polymorphic< StageFunction >	function,
		const Scalar	scale )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

aligator::LogResidualCostTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ evaluate()

template<typename Scalar>

void aligator::LogResidualCostTpl< Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		CostDataAbstract &	data ) const

virtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< Scalar >.

◆ computeGradients()

template<typename Scalar>

void aligator::LogResidualCostTpl< Scalar >::computeGradients	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		CostDataAbstract &	data ) const

virtual

Compute the cost gradients \((\ell_x, \ell_u)\).

Reimplemented from aligator::CostAbstractTpl< Scalar >.

◆ computeHessians()

template<typename Scalar>

void aligator::LogResidualCostTpl< Scalar >::computeHessians	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		CostDataAbstract &	data ) const

virtual

Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

Reimplemented from aligator::CostAbstractTpl< Scalar >.

◆ createData()

template<typename Scalar>

shared_ptr< CostDataAbstract > aligator::LogResidualCostTpl< Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 38 of file log-residual-cost.hpp.

◆ getResidual() [1/2]

template<typename Scalar>

template<typename Derived>

Derived * aligator::LogResidualCostTpl< Scalar >::getResidual ( )

inline

Get a pointer to the underlying type of the residual, by attempting to cast.

Definition at line 45 of file log-residual-cost.hpp.

◆ getResidual() [2/2]

template<typename Scalar>

template<typename Derived>

const Derived * aligator::LogResidualCostTpl< Scalar >::getResidual ( ) const

inline

Get a pointer to the underlying type of the residual, by attempting to cast.

Definition at line 50 of file log-residual-cost.hpp.

Member Data Documentation

◆ barrier_weights_

template<typename Scalar>

VectorXs aligator::LogResidualCostTpl< Scalar >::barrier_weights_

Definition at line 18 of file log-residual-cost.hpp.

◆ residual_

template<typename Scalar>

xyz::polymorphic<StageFunction> aligator::LogResidualCostTpl< Scalar >::residual_

Definition at line 19 of file log-residual-cost.hpp.

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

include/aligator/modelling/costs/log-residual-cost.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ CostDataAbstract

◆ Data

◆ StageFunction

◆ Base

◆ Manifold

Constructor & Destructor Documentation

◆ LogResidualCostTpl() [1/2]

◆ LogResidualCostTpl() [2/2]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ evaluate()

◆ computeGradients()

◆ computeHessians()

◆ createData()

◆ getResidual() [1/2]

◆ getResidual() [2/2]

Member Data Documentation

◆ barrier_weights_

◆ residual_