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aligator::QuadraticStateCostTpl< Scalar > Struct Template Reference
Quadratic distance cost over the state manifold. More...
#include <aligator/modelling/costs/quad-state-cost.hpp>
Inheritance diagram for aligator::QuadraticStateCostTpl< Scalar >:
Collaboration diagram for aligator::QuadraticStateCostTpl< Scalar >:
Public Types | |
| using | Base = QuadraticResidualCostTpl<Scalar> |
| using | StateError = StateErrorResidualTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<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 = _Scalar |
| using | CostData = CostDataAbstractTpl<Scalar> |
| using | Manifold = ManifoldAbstractTpl<Scalar> |
Public Member Functions | |
| ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
| QuadraticStateCostTpl (StateError resdl, const MatrixXs &weights) | |
| QuadraticStateCostTpl (xyz::polymorphic< Manifold > space, const int nu, const ConstVectorRef &target, const MatrixXs &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 |
| void | computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const |
| void | computeHessians (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const |
| 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 |
| template<class U > | |
| CostAbstractTpl (U &&space, const int nu) | |
| virtual | ~CostAbstractTpl ()=default |
Protected Member Functions | |
| StateError & | residual () |
| const StateError & | residual () const |
Additional Inherited Members | |
| Public Attributes inherited from aligator::QuadraticResidualCostTpl< Scalar > | |
| 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. | |
Detailed Description
template<typename Scalar>
struct aligator::QuadraticStateCostTpl< Scalar >
struct aligator::QuadraticStateCostTpl< Scalar >
Quadratic distance cost over the state manifold.
Definition at line 13 of file quad-state-cost.hpp.
Member Typedef Documentation
◆ Base
template<typename Scalar >
| using aligator::QuadraticStateCostTpl< Scalar >::Base = QuadraticResidualCostTpl<Scalar> |
Definition at line 15 of file quad-state-cost.hpp.
◆ StateError
template<typename Scalar >
| using aligator::QuadraticStateCostTpl< Scalar >::StateError = StateErrorResidualTpl<Scalar> |
Definition at line 16 of file quad-state-cost.hpp.
◆ Manifold
template<typename Scalar >
| using aligator::QuadraticStateCostTpl< Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 17 of file quad-state-cost.hpp.
Constructor & Destructor Documentation
◆ QuadraticStateCostTpl() [1/2]
template<typename Scalar >
|
inline |
Definition at line 20 of file quad-state-cost.hpp.
◆ QuadraticStateCostTpl() [2/2]
template<typename Scalar >
|
inline |
Definition at line 23 of file quad-state-cost.hpp.
Member Function Documentation
◆ ALIGATOR_DYNAMIC_TYPEDEFS()
template<typename Scalar >
| aligator::QuadraticStateCostTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
◆ setTarget()
template<typename Scalar >
|
inline |
Definition at line 27 of file quad-state-cost.hpp.
◆ getTarget()
template<typename Scalar >
|
inline |
Definition at line 28 of file quad-state-cost.hpp.
◆ residual() [1/2]
template<typename Scalar >
|
inlineprotected |
Definition at line 31 of file quad-state-cost.hpp.
◆ residual() [2/2]
template<typename Scalar >
|
inlineprotected |
Definition at line 32 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
