aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/modelling/costs/quad-state-cost.hpp>
Public Types | |
using | Base = QuadraticResidualCostTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
using | Error = ControlErrorResidualTpl<Scalar> |
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using | Scalar |
using | Base |
using | CostData |
using | Data |
using | StageFunction |
using | Manifold |
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using | Scalar = _Scalar |
using | CostData = CostDataAbstractTpl<Scalar> |
using | Manifold = ManifoldAbstractTpl<Scalar> |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
QuadraticControlCostTpl (shared_ptr< Manifold > space, shared_ptr< Error > resdl, const MatrixXs &weights) | |
QuadraticControlCostTpl (shared_ptr< Manifold > space, int nu, const ConstMatrixRef &weights) | |
QuadraticControlCostTpl (shared_ptr< Manifold > space, const ConstVectorRef &target, const ConstMatrixRef &weights) | |
void | setTarget (const ConstVectorRef &target) |
ConstVectorRef | getTarget () const |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
QuadraticResidualCostTpl (shared_ptr< Manifold > space, shared_ptr< 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 |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
int | nx () const |
int | ndx () const |
CostAbstractTpl (shared_ptr< Manifold > space, const int nu) | |
virtual | ~CostAbstractTpl ()=default |
Protected Member Functions | |
Error & | residual () |
const Error & | residual () const |
Additional Inherited Members | |
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MatrixXs | weights_ |
shared_ptr< StageFunction > | residual_ |
bool | gauss_newton |
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shared_ptr< Manifold > | space |
State dimension. | |
int | nu |
Control dimension. | |
Definition at line 39 of file quad-state-cost.hpp.
using aligator::QuadraticControlCostTpl< Scalar >::Base = QuadraticResidualCostTpl<Scalar> |
Definition at line 41 of file quad-state-cost.hpp.
using aligator::QuadraticControlCostTpl< Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 42 of file quad-state-cost.hpp.
using aligator::QuadraticControlCostTpl< Scalar >::Error = ControlErrorResidualTpl<Scalar> |
Definition at line 43 of file quad-state-cost.hpp.
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inline |
Definition at line 45 of file quad-state-cost.hpp.
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inline |
Definition at line 49 of file quad-state-cost.hpp.
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inline |
Definition at line 54 of file quad-state-cost.hpp.
aligator::QuadraticControlCostTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inline |
Definition at line 60 of file quad-state-cost.hpp.
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inline |
Definition at line 61 of file quad-state-cost.hpp.
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inlineprotected |
Definition at line 64 of file quad-state-cost.hpp.
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inlineprotected |
Definition at line 65 of file quad-state-cost.hpp.