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aligator::LogResidualCostTpl< Scalar > Struct Template Reference
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 = _Scalar |
| using | CostData = CostDataAbstractTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<Scalar> |
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 |
| template<class U > | |
| 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. | |
Detailed Description
template<typename Scalar>
struct aligator::LogResidualCostTpl< 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 >
|
virtual |
Evaluate the cost function.
Reimplemented from aligator::CostAbstractTpl< Scalar >.
◆ computeGradients()
template<typename Scalar >
|
virtual |
Compute the cost gradients \((\ell_x, \ell_u)\).
Reimplemented from aligator::CostAbstractTpl< Scalar >.
◆ computeHessians()
template<typename Scalar >
|
virtual |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
Reimplemented from aligator::CostAbstractTpl< Scalar >.
◆ createData()
template<typename Scalar >
|
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 >
|
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 >
|
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
