aligator::StageFunctionTpl< _Scalar > Struct Template Reference

Class representing ternary functions \(f(x,u,x')\). More...

#include <aligator/core/function-abstract.hpp>

Inheritance diagram for aligator::StageFunctionTpl< _Scalar >:

Collaboration diagram for aligator::StageFunctionTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.
virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Evaluate the function.
virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const =0
	Compute Jacobians of this function.
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, const ConstVectorRef &lbda, Data &data) const
	Compute the vector-hessian products of this function.
virtual	~StageFunctionTpl ()=default
virtual shared_ptr< Data >	createData () const
	Instantiate a Data object.

Public Attributes
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	ndx2
	Next state dimension.
const int	nr
	Function codimension.

Detailed Description

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

Class representing ternary functions \(f(x,u,x')\).

Definition at line 16 of file function-abstract.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 19 of file function-abstract.hpp.

Data

template<typename _Scalar >

using aligator::StageFunctionTpl< _Scalar >::Data = StageFunctionDataTpl<Scalar>

Definition at line 21 of file function-abstract.hpp.

Constructor & Destructor Documentation

StageFunctionTpl() [1/2]

template<typename _Scalar >

aligator::StageFunctionTpl< _Scalar >::StageFunctionTpl	(	const int	ndx1,
		const int	nu,
		const int	ndx2,
		const int	nr )

StageFunctionTpl() [2/2]

template<typename _Scalar >

aligator::StageFunctionTpl< _Scalar >::StageFunctionTpl	(	const int	ndx,
		const int	nu,
		const int	nr )

Constructor where ndx2 = ndx1.

~StageFunctionTpl()

template<typename _Scalar >

virtual aligator::StageFunctionTpl< _Scalar >::~StageFunctionTpl ( )

virtualdefault

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::StageFunctionTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename _Scalar >

virtual void aligator::StageFunctionTpl< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, Data & data ) const

pure virtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implemented in aligator::detail::StateOrControlErrorResidual< _Scalar, arg >, aligator::detail::StateOrControlErrorResidual< Scalar, 0 >, aligator::detail::StateOrControlErrorResidual< Scalar, 1 >, aligator::UnaryFunctionTpl< _Scalar >, aligator::UnaryFunctionTpl< Scalar >, aligator::LinearFunctionCompositionTpl< _Scalar >, aligator::FunctionSliceXprTpl< Scalar, Base >, and aligator::LinearFunctionTpl< Scalar >.

computeJacobians()

template<typename _Scalar >

virtual void aligator::StageFunctionTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, Data & data ) const

pure virtual

Compute Jacobians of this function.

This computes the Jacobians \( (\frac{\partial f}{\partial x}, \frac{\partial f}{\partial u}, \frac{\partial f}{\partial x'}) \)

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implemented in aligator::LinearFunctionTpl< Scalar >, aligator::detail::StateOrControlErrorResidual< _Scalar, arg >, aligator::detail::StateOrControlErrorResidual< Scalar, 0 >, aligator::detail::StateOrControlErrorResidual< Scalar, 1 >, aligator::UnaryFunctionTpl< _Scalar >, aligator::UnaryFunctionTpl< Scalar >, aligator::LinearFunctionCompositionTpl< _Scalar >, and aligator::FunctionSliceXprTpl< Scalar, Base >.

computeVectorHessianProducts()

template<typename _Scalar >

virtual void aligator::StageFunctionTpl< _Scalar >::computeVectorHessianProducts ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, const ConstVectorRef & lbda, Data & data ) const

virtual

Compute the vector-hessian products of this function.

Parameters

x	Current state.
u	Controls.
y	Next state.
lbda	Multiplier estimate.
data	Data holding struct.

Reimplemented in aligator::UnaryFunctionTpl< _Scalar >, aligator::UnaryFunctionTpl< Scalar >, and aligator::FunctionSliceXprTpl< Scalar, Base >.

createData()

template<typename _Scalar >

virtual shared_ptr< Data > aligator::StageFunctionTpl< _Scalar >::createData ( ) const

virtual

Instantiate a Data object.

Reimplemented in aligator::ExplicitDynamicsModelTpl< _Scalar >, aligator::AngularAccelerationResidualTpl< _Scalar >, aligator::AngularMomentumResidualTpl< _Scalar >, aligator::CentroidalAccelerationResidualTpl< _Scalar >, aligator::CentroidalCoMResidualTpl< _Scalar >, aligator::CentroidalWrapperResidualTpl< _Scalar >, aligator::FrictionConeResidualTpl< _Scalar >, aligator::LinearMomentumResidualTpl< _Scalar >, aligator::WrenchConeResidualTpl< _Scalar >, aligator::dynamics::IntegratorAbstractTpl< _Scalar >, aligator::dynamics::ExplicitIntegratorAbstractTpl< _Scalar >, aligator::dynamics::IntegratorMidpointTpl< _Scalar >, aligator::dynamics::IntegratorRK2Tpl< _Scalar >, aligator::dynamics::IntegratorSemiImplEulerTpl< _Scalar >, aligator::dynamics::LinearDiscreteDynamicsTpl< _Scalar >, aligator::detail::linear_func_composition_impl< StageFunctionTpl< _Scalar > >, aligator::detail::linear_func_composition_impl< UnaryFunctionTpl< _Scalar > >, aligator::LinearFunctionCompositionTpl< _Scalar >, aligator::LinearUnaryFunctionCompositionTpl< _Scalar >, aligator::LinearFunctionTpl< Scalar >, aligator::CenterOfMassTranslationResidualTpl< _Scalar >, aligator::CenterOfMassVelocityResidualTpl< _Scalar >, aligator::CentroidalMomentumDerivativeResidualTpl< _Scalar >, aligator::CentroidalMomentumResidualTpl< _Scalar >, aligator::FlyHighResidualTpl< _Scalar >, aligator::FramePlacementResidualTpl< _Scalar >, aligator::FrameTranslationResidualTpl< _Scalar >, aligator::FrameVelocityResidualTpl< _Scalar >, aligator::DirectSumExplicitDynamicsTpl< _Scalar >, aligator::FunctionSliceXprTpl< Scalar, Base >, and aligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >.

Member Data Documentation

ndx1

template<typename _Scalar >

const int aligator::StageFunctionTpl< _Scalar >::ndx1

Current state dimension.

Definition at line 24 of file function-abstract.hpp.

nu

template<typename _Scalar >

const int aligator::StageFunctionTpl< _Scalar >::nu

Control dimension.

Definition at line 26 of file function-abstract.hpp.

ndx2

template<typename _Scalar >

const int aligator::StageFunctionTpl< _Scalar >::ndx2

Next state dimension.

Definition at line 28 of file function-abstract.hpp.

nr

template<typename _Scalar >

const int aligator::StageFunctionTpl< _Scalar >::nr

Function codimension.

Definition at line 30 of file function-abstract.hpp.

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

• include/aligator/core/function-abstract.hpp