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>

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)

	QuadraticStateCostTpl (const StateError &resdl, const MatrixXs &weights)

	QuadraticStateCostTpl (xyz::polymorphic< Manifold > space, const int nu, const ConstVectorRef &target, const MatrixXs &weights)

template<typename U, typename = std::enable_if_t<!is_polymorphic_of_v<Manifold, U>>>
	QuadraticStateCostTpl (U &&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
	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
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

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::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.

◆ StageFunction

template<typename Scalar>

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

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

Constructor & Destructor Documentation

◆ QuadraticStateCostTpl() [1/3]

template<typename Scalar>

aligator::QuadraticStateCostTpl< Scalar >::QuadraticStateCostTpl	(	const StateError &	resdl,
		const MatrixXs &	weights )

inline

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

◆ QuadraticStateCostTpl() [2/3]

template<typename Scalar>

aligator::QuadraticStateCostTpl< Scalar >::QuadraticStateCostTpl	(	xyz::polymorphic< Manifold >	space,
		const int	nu,
		const ConstVectorRef &	target,
		const MatrixXs &	weights )

inline

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

◆ QuadraticStateCostTpl() [3/3]

template<typename Scalar>

template<typename U, typename = std::enable_if_t<!is_polymorphic_of_v<Manifold, U>>>

aligator::QuadraticStateCostTpl< Scalar >::QuadraticStateCostTpl	(	U &&	space,
		const int	nu,
		const ConstVectorRef &	target,
		const MatrixXs &	weights )

inline

Definition at line 31 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>

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

inline

Definition at line 36 of file quad-state-cost.hpp.

◆ getTarget()

template<typename Scalar>

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

inline

Definition at line 37 of file quad-state-cost.hpp.

◆ residual() [1/2]

template<typename Scalar>

StateError & aligator::QuadraticStateCostTpl< Scalar >::residual ( )

inlineprotected

Definition at line 40 of file quad-state-cost.hpp.

◆ residual() [2/2]

template<typename Scalar>

const StateError & aligator::QuadraticStateCostTpl< Scalar >::residual ( ) const

inlineprotected

Definition at line 41 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

◆ StateError

◆ Manifold

◆ StageFunction

Constructor & Destructor Documentation

◆ QuadraticStateCostTpl() [1/3]

◆ QuadraticStateCostTpl() [2/3]

◆ QuadraticStateCostTpl() [3/3]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ setTarget()

◆ getTarget()

◆ residual() [1/2]

◆ residual() [2/2]