#include <aligator/modelling/costs/quad-state-cost.hpp>

Inheritance diagram for aligator::QuadraticControlCostTpl< Scalar >:

Collaboration diagram for aligator::QuadraticControlCostTpl< Scalar >:

Public Types
using	Base = QuadraticResidualCostTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ControlError = ControlErrorResidualTpl<Scalar>

using	StageFunction = StageFunctionTpl<Scalar>

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

using	Base

using	CostData

using	Data

using	StageFunction

using	Manifold

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)

	QuadraticControlCostTpl (xyz::polymorphic< Manifold > space, const ControlError &resdl, const MatrixXs &weights)

	QuadraticControlCostTpl (xyz::polymorphic< Manifold > space, int nu, const ConstMatrixRef &weights)

	QuadraticControlCostTpl (xyz::polymorphic< Manifold > space, const ConstVectorRef &target, const ConstMatrixRef &weights)

void	setTarget (const ConstVectorRef &target)

ConstVectorRef	getTarget () const

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

	QuadraticResidualCostTpl (xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > function, const ConstMatrixRef &weights)

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 &x, const ConstVectorRef &u, CostData &data_) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

shared_ptr< CostData >	createData () const

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

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

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	QuadraticResidualCostTpl (xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > function, const ConstMatrixRef &weights)

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 &x, const ConstVectorRef &u, CostData &data_) const
	Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

shared_ptr< CostData >	createData () const

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

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

Protected Member Functions
ControlError &	residual ()

const ControlError &	residual () const

Additional Inherited Members
Public Attributes inherited from aligator::QuadraticResidualCostTpl< Scalar >
MatrixXs	weights_

xyz::polymorphic< StageFunction >	residual_

bool	gauss_newton

MatrixXs	weights_

xyz::polymorphic< StageFunction >	residual_

bool	gauss_newton

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::QuadraticControlCostTpl< Scalar >

Definition at line 47 of file quad-state-cost.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar>

using aligator::QuadraticControlCostTpl< Scalar >::Base = QuadraticResidualCostTpl<Scalar>

Definition at line 49 of file quad-state-cost.hpp.

◆ Manifold

template<typename Scalar>

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

Definition at line 50 of file quad-state-cost.hpp.

◆ ControlError

template<typename Scalar>

using aligator::QuadraticControlCostTpl< Scalar >::ControlError = ControlErrorResidualTpl<Scalar>

Definition at line 51 of file quad-state-cost.hpp.

◆ StageFunction

template<typename Scalar>

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

Definition at line 52 of file quad-state-cost.hpp.

Constructor & Destructor Documentation

◆ QuadraticControlCostTpl() [1/3]

template<typename Scalar>

aligator::QuadraticControlCostTpl< Scalar >::QuadraticControlCostTpl	(	xyz::polymorphic< Manifold >	space,
		const ControlError &	resdl,
		const MatrixXs &	weights )

inline

Definition at line 54 of file quad-state-cost.hpp.

◆ QuadraticControlCostTpl() [2/3]

template<typename Scalar>

aligator::QuadraticControlCostTpl< Scalar >::QuadraticControlCostTpl	(	xyz::polymorphic< Manifold >	space,
		int	nu,
		const ConstMatrixRef &	weights )

inline

Definition at line 59 of file quad-state-cost.hpp.

◆ QuadraticControlCostTpl() [3/3]

template<typename Scalar>

aligator::QuadraticControlCostTpl< Scalar >::QuadraticControlCostTpl	(	xyz::polymorphic< Manifold >	space,
		const ConstVectorRef &	target,
		const ConstMatrixRef &	weights )

inline

Definition at line 64 of file quad-state-cost.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar>

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

◆ setTarget()

template<typename Scalar>

void aligator::QuadraticControlCostTpl< Scalar >::setTarget ( const ConstVectorRef & target )

inline

Definition at line 70 of file quad-state-cost.hpp.

◆ getTarget()

template<typename Scalar>

ConstVectorRef aligator::QuadraticControlCostTpl< Scalar >::getTarget ( ) const

inline

Definition at line 71 of file quad-state-cost.hpp.

◆ residual() [1/2]

template<typename Scalar>

ControlError & aligator::QuadraticControlCostTpl< Scalar >::residual ( )

inlineprotected

Definition at line 74 of file quad-state-cost.hpp.

◆ residual() [2/2]

template<typename Scalar>

const ControlError & aligator::QuadraticControlCostTpl< Scalar >::residual ( ) const

inlineprotected

Definition at line 77 of file quad-state-cost.hpp.

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

include/aligator/modelling/costs/quad-state-cost.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Manifold

◆ ControlError

◆ StageFunction

Constructor & Destructor Documentation

◆ QuadraticControlCostTpl() [1/3]

◆ QuadraticControlCostTpl() [2/3]

◆ QuadraticControlCostTpl() [3/3]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ setTarget()

◆ getTarget()

◆ residual() [1/2]

◆ residual() [2/2]