aligator::QuadraticResidualCostTpl< _Scalar > Struct Template Reference

Quadratic composite of an underlying function. More...

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

Inheritance diagram for aligator::QuadraticResidualCostTpl< _Scalar >:

Collaboration diagram for aligator::QuadraticResidualCostTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = CostAbstractTpl<Scalar>
using	CostData = CostDataAbstractTpl<Scalar>
using	Data = CompositeCostDataTpl<Scalar>
using	StageFunction = StageFunctionTpl<Scalar>
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)
	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
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
MatrixXs	weights_
shared_ptr< StageFunction >	residual_
bool	gauss_newton = true
Public Attributes inherited from aligator::CostAbstractTpl< _Scalar >
shared_ptr< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

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

Quadratic composite of an underlying function.

This is defined as

\[ c(x, u) \overset{\triangle}{=} \frac{1}{2} \|r(x, u)\|_W^2. \]

Definition at line 17 of file quad-residual-cost.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 18 of file quad-residual-cost.hpp.

Base

template<typename _Scalar >

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

Definition at line 20 of file quad-residual-cost.hpp.

CostData

template<typename _Scalar >

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

Definition at line 21 of file quad-residual-cost.hpp.

Data

template<typename _Scalar >

using aligator::QuadraticResidualCostTpl< _Scalar >::Data = CompositeCostDataTpl<Scalar>

Definition at line 22 of file quad-residual-cost.hpp.

StageFunction

template<typename _Scalar >

using aligator::QuadraticResidualCostTpl< _Scalar >::StageFunction = StageFunctionTpl<Scalar>

Definition at line 23 of file quad-residual-cost.hpp.

Manifold

template<typename _Scalar >

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

Definition at line 24 of file quad-residual-cost.hpp.

Constructor & Destructor Documentation

QuadraticResidualCostTpl()

template<typename _Scalar >

aligator::QuadraticResidualCostTpl< _Scalar >::QuadraticResidualCostTpl	(	shared_ptr< Manifold >	space,
		shared_ptr< StageFunction >	function,
		const ConstMatrixRef &	weights )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::QuadraticResidualCostTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar >

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

virtual

Evaluate the cost function.

Implements aligator::CostAbstractTpl< _Scalar >.

computeGradients()

template<typename _Scalar >

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

virtual

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

Implements aligator::CostAbstractTpl< _Scalar >.

computeHessians()

template<typename _Scalar >

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

virtual

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

Implements aligator::CostAbstractTpl< _Scalar >.

createData()

template<typename _Scalar >

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

inlinevirtual

Reimplemented from aligator::CostAbstractTpl< _Scalar >.

Definition at line 43 of file quad-residual-cost.hpp.

Member Data Documentation

weights_

template<typename _Scalar >

MatrixXs aligator::QuadraticResidualCostTpl< _Scalar >::weights_

Definition at line 26 of file quad-residual-cost.hpp.

residual_

template<typename _Scalar >

shared_ptr<StageFunction> aligator::QuadraticResidualCostTpl< _Scalar >::residual_

Definition at line 27 of file quad-residual-cost.hpp.

gauss_newton

template<typename _Scalar >

bool aligator::QuadraticResidualCostTpl< _Scalar >::gauss_newton = true

Definition at line 28 of file quad-residual-cost.hpp.

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

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