aligator::ProximalPenaltyTpl< _Scalar > Struct Template Reference

Proximal penalty cost. More...

#include <aligator/core/proximal-penalty.hpp>

Inheritance diagram for aligator::ProximalPenaltyTpl< _Scalar >:

Collaboration diagram for aligator::ProximalPenaltyTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	ManifoldPtr = shared_ptr<ManifoldAbstractTpl<Scalar>>
using	Base = CostAbstractTpl<Scalar>
using	CostData = CostDataAbstractTpl<Scalar>
using	Data = ProximalDataTpl<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)
	ProximalPenaltyTpl (const ManifoldPtr &xspace, const ManifoldPtr &uspace, const VectorXs &xt, const VectorXs &ut, const bool no_ctrl_term)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Evaluate the cost function.
void	computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Compute the cost gradients \((\ell_x, \ell_u)\).
void	computeHessians (const ConstVectorRef &, const ConstVectorRef &, CostData &data) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
shared_ptr< CostData >	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
const ManifoldPtr	uspace_
const VectorXs &	x_ref
const VectorXs	u_ref
const bool	no_ctrl_term
Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
shared_ptr< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

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

Proximal penalty cost.

This cost holds const Eigen::Ref references to the proximal targets. This will be the proximal solver's previous iterates.

Definition at line 19 of file proximal-penalty.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 20 of file proximal-penalty.hpp.

ManifoldPtr

template<typename _Scalar >

using aligator::ProximalPenaltyTpl< _Scalar >::ManifoldPtr = shared_ptr<ManifoldAbstractTpl<Scalar>>

Definition at line 23 of file proximal-penalty.hpp.

Base

template<typename _Scalar >

using aligator::ProximalPenaltyTpl< _Scalar >::Base = CostAbstractTpl<Scalar>

Definition at line 24 of file proximal-penalty.hpp.

CostData

template<typename _Scalar >

using aligator::ProximalPenaltyTpl< _Scalar >::CostData = CostDataAbstractTpl<Scalar>

Definition at line 25 of file proximal-penalty.hpp.

Data

template<typename _Scalar >

using aligator::ProximalPenaltyTpl< _Scalar >::Data = ProximalDataTpl<Scalar>

Definition at line 26 of file proximal-penalty.hpp.

Constructor & Destructor Documentation

ProximalPenaltyTpl()

template<typename _Scalar >

aligator::ProximalPenaltyTpl< _Scalar >::ProximalPenaltyTpl ( const ManifoldPtr & xspace, const ManifoldPtr & uspace, const VectorXs & xt, const VectorXs & ut, const bool no_ctrl_term )

inline

Definition at line 34 of file proximal-penalty.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::ProximalPenaltyTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar >

void aligator::ProximalPenaltyTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

inlinevirtual

Evaluate the cost function.

Implements aligator::CostAbstractTpl< _Scalar >.

Definition at line 40 of file proximal-penalty.hpp.

computeGradients()

template<typename _Scalar >

void aligator::ProximalPenaltyTpl< _Scalar >::computeGradients ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

inlinevirtual

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

Implements aligator::CostAbstractTpl< _Scalar >.

Definition at line 52 of file proximal-penalty.hpp.

computeHessians()

template<typename _Scalar >

void aligator::ProximalPenaltyTpl< _Scalar >::computeHessians ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

inlinevirtual

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

Implements aligator::CostAbstractTpl< _Scalar >.

Definition at line 63 of file proximal-penalty.hpp.

createData()

template<typename _Scalar >

shared_ptr< CostData > aligator::ProximalPenaltyTpl< _Scalar >::createData ( ) const

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 72 of file proximal-penalty.hpp.

Member Data Documentation

uspace_

template<typename _Scalar >

const ManifoldPtr aligator::ProximalPenaltyTpl< _Scalar >::uspace_

Definition at line 28 of file proximal-penalty.hpp.

x_ref

template<typename _Scalar >

const VectorXs& aligator::ProximalPenaltyTpl< _Scalar >::x_ref

Definition at line 29 of file proximal-penalty.hpp.

u_ref

template<typename _Scalar >

const VectorXs aligator::ProximalPenaltyTpl< _Scalar >::u_ref

Definition at line 29 of file proximal-penalty.hpp.

no_ctrl_term

template<typename _Scalar >

const bool aligator::ProximalPenaltyTpl< _Scalar >::no_ctrl_term

Whether to exclude the control term of the penalty. Switch to true e.g. for terminal node.

Definition at line 32 of file proximal-penalty.hpp.

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

• include/aligator/core/proximal-penalty.hpp