Euclidean quadratic cost. More...

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

Inheritance diagram for aligator::QuadraticCostTpl< _Scalar >:

Collaboration diagram for aligator::QuadraticCostTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = CostAbstractTpl<Scalar>

using	CostData = CostDataAbstractTpl<Scalar>

using	Data = QuadraticCostDataTpl<Scalar>

using	VectorSpace = ::aligator::VectorSpaceTpl<Scalar, Eigen::Dynamic>

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)

	QuadraticCostTpl (const ConstMatrixRef &w_x, const ConstMatrixRef &w_u, const ConstVectorRef &interp_x, const ConstVectorRef &interp_u)

	QuadraticCostTpl (const ConstMatrixRef &w_x, const ConstMatrixRef &w_u, const ConstMatrixRef &w_cross, const ConstVectorRef &interp_x, const ConstVectorRef &interp_u)

	QuadraticCostTpl (const ConstMatrixRef &w_x, const ConstMatrixRef &w_u)

	QuadraticCostTpl (const ConstMatrixRef &w_x, const ConstMatrixRef &w_u, const ConstMatrixRef &w_cross)

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data) const
	Evaluate the cost function.

void	computeGradients (const ConstVectorRef &, const ConstVectorRef &, CostData &data) const
	Compute the cost gradients \((\ell_x, \ell_u)\).

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

shared_ptr< CostData >	createData () const

ConstMatrixRef	getCrossWeights () const

void	setCrossWeight (const ConstMatrixRef &w)

bool	hasCrossTerm () const
	Whether a cross term exists.

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

Static Public Member Functions
static auto	get_vector_space (Eigen::Index nx)

Public Attributes
MatrixXs	Wxx_
	Weight \( Q \).

MatrixXs	Wuu_
	Weight \( R \).

VectorXs	interp_x
	Affine term in \( x\).

VectorXs	interp_u
	Affine term in \( u\).

Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

Protected Attributes
MatrixXs	Wxu_
	Weight N for term \( x^\top N u \).

bool	has_cross_term_
	Whether a cross term exists.

Detailed Description

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

Euclidean quadratic cost.

Definition at line 13 of file quad-costs.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

Definition at line 15 of file quad-costs.hpp.

◆ Base

template<typename _Scalar>

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

Definition at line 17 of file quad-costs.hpp.

◆ CostData

template<typename _Scalar>

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

Definition at line 18 of file quad-costs.hpp.

◆ Data

template<typename _Scalar>

using aligator::QuadraticCostTpl< _Scalar >::Data = QuadraticCostDataTpl<Scalar>

Definition at line 20 of file quad-costs.hpp.

◆ VectorSpace

template<typename _Scalar>

using aligator::QuadraticCostTpl< _Scalar >::VectorSpace = ::aligator::VectorSpaceTpl<Scalar, Eigen::Dynamic>

Definition at line 21 of file quad-costs.hpp.

◆ Manifold

template<typename _Scalar>

using aligator::QuadraticCostTpl< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 22 of file quad-costs.hpp.

Constructor & Destructor Documentation

◆ QuadraticCostTpl() [1/4]

template<typename _Scalar>

aligator::QuadraticCostTpl< _Scalar >::QuadraticCostTpl	(	const ConstMatrixRef &	w_x,
		const ConstMatrixRef &	w_u,
		const ConstVectorRef &	interp_x,
		const ConstVectorRef &	interp_u )

inline

Definition at line 43 of file quad-costs.hpp.

◆ QuadraticCostTpl() [2/4]

template<typename _Scalar>

aligator::QuadraticCostTpl< _Scalar >::QuadraticCostTpl	(	const ConstMatrixRef &	w_x,
		const ConstMatrixRef &	w_u,
		const ConstMatrixRef &	w_cross,
		const ConstVectorRef &	interp_x,
		const ConstVectorRef &	interp_u )

inline

Definition at line 57 of file quad-costs.hpp.

◆ QuadraticCostTpl() [3/4]

template<typename _Scalar>

aligator::QuadraticCostTpl< _Scalar >::QuadraticCostTpl	(	const ConstMatrixRef &	w_x,
		const ConstMatrixRef &	w_u )

inline

Definition at line 71 of file quad-costs.hpp.

◆ QuadraticCostTpl() [4/4]

template<typename _Scalar>

aligator::QuadraticCostTpl< _Scalar >::QuadraticCostTpl	(	const ConstMatrixRef &	w_x,
		const ConstMatrixRef &	w_u,
		const ConstMatrixRef &	w_cross )

inline

Definition at line 75 of file quad-costs.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::QuadraticCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ get_vector_space()

template<typename _Scalar>

static auto aligator::QuadraticCostTpl< _Scalar >::get_vector_space ( Eigen::Index nx )

inlinestatic

Definition at line 39 of file quad-costs.hpp.

◆ evaluate()

template<typename _Scalar>

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

inlinevirtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 80 of file quad-costs.hpp.

◆ computeGradients()

template<typename _Scalar>

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

inlinevirtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 96 of file quad-costs.hpp.

◆ computeHessians()

template<typename _Scalar>

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

inlinevirtual

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

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 103 of file quad-costs.hpp.

◆ createData()

template<typename _Scalar>

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

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 106 of file quad-costs.hpp.

◆ getCrossWeights()

template<typename _Scalar>

ConstMatrixRef aligator::QuadraticCostTpl< _Scalar >::getCrossWeights ( ) const

inline

Definition at line 115 of file quad-costs.hpp.

◆ setCrossWeight()

template<typename _Scalar>

void aligator::QuadraticCostTpl< _Scalar >::setCrossWeight ( const ConstMatrixRef & w )

inline

Definition at line 116 of file quad-costs.hpp.

◆ hasCrossTerm()

template<typename _Scalar>

bool aligator::QuadraticCostTpl< _Scalar >::hasCrossTerm ( ) const

inline

Whether a cross term exists.

Definition at line 123 of file quad-costs.hpp.

Member Data Documentation

◆ Wxx_

template<typename _Scalar>

MatrixXs aligator::QuadraticCostTpl< _Scalar >::Wxx_

Weight \( Q \).

Definition at line 25 of file quad-costs.hpp.

◆ Wuu_

template<typename _Scalar>

MatrixXs aligator::QuadraticCostTpl< _Scalar >::Wuu_

Weight \( R \).

Definition at line 27 of file quad-costs.hpp.

◆ Wxu_

template<typename _Scalar>

MatrixXs aligator::QuadraticCostTpl< _Scalar >::Wxu_

protected

Weight N for term \( x^\top N u \).

Definition at line 31 of file quad-costs.hpp.

◆ interp_x

template<typename _Scalar>

VectorXs aligator::QuadraticCostTpl< _Scalar >::interp_x

Affine term in \( x\).

Definition at line 35 of file quad-costs.hpp.

◆ interp_u

template<typename _Scalar>

VectorXs aligator::QuadraticCostTpl< _Scalar >::interp_u

Affine term in \( u\).

Definition at line 37 of file quad-costs.hpp.

◆ has_cross_term_

template<typename _Scalar>

bool aligator::QuadraticCostTpl< _Scalar >::has_cross_term_

protected

Whether a cross term exists.

Definition at line 127 of file quad-costs.hpp.

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ CostData

◆ Data

◆ VectorSpace

◆ Manifold

Constructor & Destructor Documentation

◆ QuadraticCostTpl() [1/4]

◆ QuadraticCostTpl() [2/4]

◆ QuadraticCostTpl() [3/4]

◆ QuadraticCostTpl() [4/4]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ get_vector_space()

◆ evaluate()

◆ computeGradients()

◆ computeHessians()

◆ createData()

◆ getCrossWeights()

◆ setCrossWeight()

◆ hasCrossTerm()

Member Data Documentation

◆ Wxx_

◆ Wuu_

◆ Wxu_

◆ interp_x

◆ interp_u

◆ has_cross_term_