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
using	CostData
using	Manifold

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	LogResidualCostTpl (shared_ptr< Manifold > space, shared_ptr< StageFunction > function, const ConstVectorRef &scale)
	LogResidualCostTpl (shared_ptr< Manifold > space, shared_ptr< 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
Public Member Functions inherited from aligator::CostAbstractTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	nx () const
int	ndx () const
	CostAbstractTpl (shared_ptr< Manifold > space, const int nu)
virtual	~CostAbstractTpl ()=default

Public Attributes
VectorXs	barrier_weights_
shared_ptr< StageFunction >	residual_
Public Attributes inherited from aligator::CostAbstractTpl< Scalar >
shared_ptr< 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	(	shared_ptr< Manifold >	space,
		shared_ptr< StageFunction >	function,
		const ConstVectorRef &	scale )

LogResidualCostTpl() [2/2]

template<typename Scalar >

aligator::LogResidualCostTpl< Scalar >::LogResidualCostTpl	(	shared_ptr< Manifold >	space,
		shared_ptr< 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.

Implements 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 \((\ell_x, \ell_u)\).

Implements 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 \((\ell_{ij})_{i,j \in \{x,u\}}\).

Implements aligator::CostAbstractTpl< Scalar >.

createData()

template<typename Scalar >

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

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 37 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 >

shared_ptr<StageFunction> aligator::LogResidualCostTpl< Scalar >::residual_

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

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

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