A stage in the control problem. More...

#include <aligator/core/stage-model.hpp>

Inheritance diagram for aligator::StageModelTpl< _Scalar >:

Collaboration diagram for aligator::StageModelTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

using	Dynamics = DynamicsModelTpl<Scalar>

using	DynamicsPtr = shared_ptr<Dynamics>

using	FunctionPtr = shared_ptr<StageFunctionTpl<Scalar>>

using	ConstraintSetPtr = shared_ptr<ConstraintSetBase<Scalar>>

using	Constraint = StageConstraintTpl<Scalar>

using	Cost = CostAbstractTpl<Scalar>

using	CostPtr = shared_ptr<Cost>

using	Data = StageDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageModelTpl (CostPtr cost, DynamicsPtr dynamics)

virtual	~StageModelTpl ()=default

const Manifold &	xspace () const

const Manifold &	uspace () const

const Manifold &	xspace_next () const

const Cost &	cost () const

virtual bool	has_dyn_model () const

virtual ALIGATOR_DEPRECATED const Dynamics &	dyn_model () const

int	nx1 () const

int	ndx1 () const

int	nu () const

int	nx2 () const

int	ndx2 () const

int	nc () const
	Total number of constraints.

std::size_t	numConstraints () const
	Number of constraint objects.

int	numPrimal () const
	Number of primal optimization variables.

int	numDual () const
	Number of dual variables, i.e. Lagrange multipliers.

template<typename T >
void	addConstraint (T &&cstr)
	Add a constraint to the stage.

void	addConstraint (FunctionPtr func, ConstraintSetPtr cstr_set)
	Add a constraint to the stage.

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const
	Evaluate all the functions (cost, dynamics, constraints) at this node.

virtual void	computeFirstOrderDerivatives (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const
	Compute the first-order derivatives of the StageModelTpl.

virtual void	computeSecondOrderDerivatives (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const
	Compute the second-order derivatives of the StageModelTpl.

virtual shared_ptr< Data >	createData () const
	Create a StageData object.

Public Member Functions inherited from aligator::Cloneable< StageModelTpl< _Scalar > >
shared_ptr< StageModelTpl< _Scalar > >	clone () const

Public Attributes
ManifoldPtr	xspace_
	State space for the current state \(x_k\).

ManifoldPtr	xspace_next_
	State space for the next state \(x_{k+1}\).

ManifoldPtr	uspace_
	Control vector space – by default, a simple Euclidean space.

ConstraintStackTpl< Scalar >	constraints_
	Constraint manager.

CostPtr	cost_
	Stage cost function.

DynamicsPtr	dynamics_
	Dynamics model.

Protected Member Functions
	StageModelTpl (ManifoldPtr space, const int nu)

virtual StageModelTpl *	clone_impl () const override

Friends
std::ostream &	operator<< (std::ostream &oss, const StageModelTpl &stage)

Detailed Description

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

A stage in the control problem.

Each stage containts cost functions, dynamical and constraint models. These objects are hold through smart pointers to leverage dynamic polymorphism.

Definition at line 21 of file stage-model.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

Definition at line 23 of file stage-model.hpp.

◆ Manifold

template<typename _Scalar >

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

Definition at line 26 of file stage-model.hpp.

◆ ManifoldPtr

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::ManifoldPtr = shared_ptr<Manifold>

Definition at line 27 of file stage-model.hpp.

◆ Dynamics

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::Dynamics = DynamicsModelTpl<Scalar>

Definition at line 28 of file stage-model.hpp.

◆ DynamicsPtr

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::DynamicsPtr = shared_ptr<Dynamics>

Definition at line 29 of file stage-model.hpp.

◆ FunctionPtr

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::FunctionPtr = shared_ptr<StageFunctionTpl<Scalar>>

Definition at line 30 of file stage-model.hpp.

◆ ConstraintSetPtr

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::ConstraintSetPtr = shared_ptr<ConstraintSetBase<Scalar>>

Definition at line 31 of file stage-model.hpp.

◆ Constraint

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::Constraint = StageConstraintTpl<Scalar>

Definition at line 32 of file stage-model.hpp.

◆ Cost

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::Cost = CostAbstractTpl<Scalar>

Definition at line 33 of file stage-model.hpp.

◆ CostPtr

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::CostPtr = shared_ptr<Cost>

Definition at line 34 of file stage-model.hpp.

◆ Data

template<typename _Scalar >

using aligator::StageModelTpl< _Scalar >::Data = StageDataTpl<Scalar>

Definition at line 35 of file stage-model.hpp.

Constructor & Destructor Documentation

◆ StageModelTpl() [1/2]

template<typename _Scalar >

aligator::StageModelTpl< _Scalar >::StageModelTpl	(	CostPtr	cost,
		DynamicsPtr	dynamics )

Constructor assumes the control space is a Euclidean space of dimension nu.

◆ ~StageModelTpl()

template<typename _Scalar >

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

virtualdefault

◆ StageModelTpl() [2/2]

template<typename _Scalar >

aligator::StageModelTpl< _Scalar >::StageModelTpl	(	ManifoldPtr	space,
		const int	nu )

protected

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

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

◆ xspace()

template<typename _Scalar >

const Manifold & aligator::StageModelTpl< _Scalar >::xspace ( ) const

inline

Definition at line 55 of file stage-model.hpp.

◆ uspace()

template<typename _Scalar >

const Manifold & aligator::StageModelTpl< _Scalar >::uspace ( ) const

inline

Definition at line 56 of file stage-model.hpp.

◆ xspace_next()

template<typename _Scalar >

const Manifold & aligator::StageModelTpl< _Scalar >::xspace_next ( ) const

inline

Definition at line 57 of file stage-model.hpp.

◆ cost()

template<typename _Scalar >

const Cost & aligator::StageModelTpl< _Scalar >::cost ( ) const

inline

Definition at line 59 of file stage-model.hpp.

◆ has_dyn_model()

template<typename _Scalar >

virtual bool aligator::StageModelTpl< _Scalar >::has_dyn_model ( ) const

inlinevirtual

Whether the stage's dynamics model can be accessed. This boolean allows flexibility in solvers when dealing with different frontends e.g. Crocoddyl's API.

Reimplemented in aligator::compat::croc::ActionModelWrapperTpl< Scalar >.

Definition at line 63 of file stage-model.hpp.

◆ dyn_model()

template<typename _Scalar >

virtual ALIGATOR_DEPRECATED const Dynamics & aligator::StageModelTpl< _Scalar >::dyn_model ( ) const

inlinevirtual

Definition at line 64 of file stage-model.hpp.

◆ nx1()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::nx1 ( ) const

inline

Definition at line 68 of file stage-model.hpp.

◆ ndx1()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::ndx1 ( ) const

inline

Definition at line 69 of file stage-model.hpp.

◆ nu()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::nu ( ) const

inline

Definition at line 70 of file stage-model.hpp.

◆ nx2()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::nx2 ( ) const

inline

Definition at line 71 of file stage-model.hpp.

◆ ndx2()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::ndx2 ( ) const

inline

Definition at line 72 of file stage-model.hpp.

◆ nc()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::nc ( ) const

inline

Total number of constraints.

Definition at line 74 of file stage-model.hpp.

◆ numConstraints()

template<typename _Scalar >

std::size_t aligator::StageModelTpl< _Scalar >::numConstraints ( ) const

inline

Number of constraint objects.

Definition at line 77 of file stage-model.hpp.

◆ numPrimal()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::numPrimal ( ) const

inline

Number of primal optimization variables.

Definition at line 80 of file stage-model.hpp.

◆ numDual()

template<typename _Scalar >

int aligator::StageModelTpl< _Scalar >::numDual ( ) const

inline

Number of dual variables, i.e. Lagrange multipliers.

Definition at line 82 of file stage-model.hpp.

◆ addConstraint() [1/2]

template<typename _Scalar >

template<typename T >

void aligator::StageModelTpl< _Scalar >::addConstraint ( T && cstr )

Add a constraint to the stage.

◆ addConstraint() [2/2]

template<typename _Scalar >

void aligator::StageModelTpl< _Scalar >::addConstraint	(	FunctionPtr	func,
		ConstraintSetPtr	cstr_set )

Add a constraint to the stage.

Adds a constraint by allocating a new StageConstraintTpl.

◆ evaluate()

template<typename _Scalar >

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

virtual

Evaluate all the functions (cost, dynamics, constraints) at this node.

Reimplemented in aligator::compat::croc::ActionModelWrapperTpl< Scalar >.

◆ computeFirstOrderDerivatives()

template<typename _Scalar >

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

virtual

Compute the first-order derivatives of the StageModelTpl.

Reimplemented in aligator::compat::croc::ActionModelWrapperTpl< Scalar >.

◆ computeSecondOrderDerivatives()

template<typename _Scalar >

virtual void aligator::StageModelTpl< _Scalar >::computeSecondOrderDerivatives	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		Data &	data ) const

virtual

Compute the second-order derivatives of the StageModelTpl.

Reimplemented in aligator::compat::croc::ActionModelWrapperTpl< Scalar >.

◆ createData()

template<typename _Scalar >

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

virtual

Create a StageData object.

Reimplemented in aligator::compat::croc::ActionModelWrapperTpl< Scalar >.

◆ clone_impl()

template<typename _Scalar >

virtual StageModelTpl * aligator::StageModelTpl< _Scalar >::clone_impl ( ) const

inlineoverrideprotectedvirtual

Implements aligator::Cloneable< StageModelTpl< _Scalar > >.

Definition at line 135 of file stage-model.hpp.

Friends And Related Symbol Documentation

◆ operator<<

template<typename _Scalar >

std::ostream & operator<<	(	std::ostream &	oss,
		const StageModelTpl< _Scalar > &	stage )

friend

Definition at line 112 of file stage-model.hpp.

Member Data Documentation

◆ xspace_

template<typename _Scalar >

ManifoldPtr aligator::StageModelTpl< _Scalar >::xspace_

State space for the current state \(x_k\).

Definition at line 38 of file stage-model.hpp.

◆ xspace_next_

template<typename _Scalar >

ManifoldPtr aligator::StageModelTpl< _Scalar >::xspace_next_

State space for the next state \(x_{k+1}\).

Definition at line 40 of file stage-model.hpp.

◆ uspace_

template<typename _Scalar >

ManifoldPtr aligator::StageModelTpl< _Scalar >::uspace_

Control vector space – by default, a simple Euclidean space.

Definition at line 42 of file stage-model.hpp.

◆ constraints_

template<typename _Scalar >

ConstraintStackTpl<Scalar> aligator::StageModelTpl< _Scalar >::constraints_

Constraint manager.

Definition at line 44 of file stage-model.hpp.

◆ cost_

template<typename _Scalar >

CostPtr aligator::StageModelTpl< _Scalar >::cost_

Stage cost function.

Definition at line 46 of file stage-model.hpp.

◆ dynamics_

template<typename _Scalar >

DynamicsPtr aligator::StageModelTpl< _Scalar >::dynamics_

Dynamics model.

Definition at line 48 of file stage-model.hpp.

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

include/aligator/core/stage-model.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Manifold

◆ ManifoldPtr

◆ Dynamics

◆ DynamicsPtr

◆ FunctionPtr

◆ ConstraintSetPtr

◆ Constraint

◆ Cost

◆ CostPtr

◆ Data

Constructor & Destructor Documentation

◆ StageModelTpl() [1/2]

◆ ~StageModelTpl()

◆ StageModelTpl() [2/2]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ xspace()

◆ uspace()

◆ xspace_next()

◆ cost()

◆ has_dyn_model()

◆ dyn_model()

◆ nx1()

◆ ndx1()

◆ nu()

◆ nx2()

◆ ndx2()

◆ nc()

◆ numConstraints()

◆ numPrimal()

◆ numDual()

◆ addConstraint() [1/2]

◆ addConstraint() [2/2]

◆ evaluate()

◆ computeFirstOrderDerivatives()

◆ computeSecondOrderDerivatives()

◆ createData()

◆ clone_impl()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ xspace_

◆ xspace_next_

◆ uspace_

◆ constraints_

◆ cost_

◆ dynamics_