A stage in the control problem. More...

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

Public Types
using	Scalar = _Scalar

using	Manifold = ManifoldAbstractTpl<Scalar>

using	PolyManifold = xyz::polymorphic<Manifold>

using	Dynamics = DynamicsModelTpl<Scalar>

using	PolyDynamics = xyz::polymorphic<Dynamics>

using	PolyFunction = xyz::polymorphic<StageFunctionTpl<Scalar>>

using	PolyConstraintSet = xyz::polymorphic<ConstraintSetTpl<Scalar>>

using	Cost = CostAbstractTpl<Scalar>

using	PolyCost = xyz::polymorphic<Cost>

using	StageConstraint = StageConstraintTpl<Scalar>

using	Data = StageDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

template<typename U>
U *	getCost ()
	Get a pointer to an expected concrete type for the cost function.

template<typename U>
const U *	getCost () const

template<typename U>
U *	getDynamics ()
	Get a pointer to an expected concrete type for the dynamics class.

template<typename U>
const U *	getDynamics () const

	StageModelTpl (const PolyCost &cost, const PolyDynamics &dynamics)

virtual	~StageModelTpl ()=default

const Manifold &	xspace () const

const Manifold &	uspace () const

const Manifold &	xspace_next () const

const Cost &	cost () const

virtual bool	hasDynModel () 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 Cstr, typename = std::enable_if_t<std::is_same_v< std::decay_t<Cstr>, StageConstraint>>>
ALIGATOR_DEPRECATED void	addConstraint (Cstr &&cstr)
	Add a constraint to the stage.

void	addConstraint (const PolyFunction &func, const PolyConstraintSet &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.

template<typename Cstr, typename>
void	addConstraint (Cstr &&cstr)

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

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

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

ConstraintStackTpl< Scalar >	constraints_
	Constraint manager.

PolyCost	cost_
	Stage cost function.

PolyDynamics	dynamics_
	Dynamics model.

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 24 of file stage-model.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar>

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

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

◆ Manifold

template<typename _Scalar>

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

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

◆ PolyManifold

template<typename _Scalar>

using aligator::StageModelTpl< _Scalar >::PolyManifold = xyz::polymorphic<Manifold>

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

◆ Dynamics

template<typename _Scalar>

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

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

◆ PolyDynamics

template<typename _Scalar>

using aligator::StageModelTpl< _Scalar >::PolyDynamics = xyz::polymorphic<Dynamics>

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

◆ PolyFunction

template<typename _Scalar>

using aligator::StageModelTpl< _Scalar >::PolyFunction = xyz::polymorphic<StageFunctionTpl<Scalar>>

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

◆ PolyConstraintSet

template<typename _Scalar>

using aligator::StageModelTpl< _Scalar >::PolyConstraintSet = xyz::polymorphic<ConstraintSetTpl<Scalar>>

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

◆ Cost

template<typename _Scalar>

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

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

◆ PolyCost

template<typename _Scalar>

using aligator::StageModelTpl< _Scalar >::PolyCost = xyz::polymorphic<Cost>

Definition at line 36 of file stage-model.hpp.

◆ StageConstraint

template<typename _Scalar>

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

Definition at line 39 of file stage-model.hpp.

◆ Data

template<typename _Scalar>

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

Definition at line 41 of file stage-model.hpp.

Constructor & Destructor Documentation

◆ StageModelTpl()

template<typename _Scalar>

aligator::StageModelTpl< _Scalar >::StageModelTpl	(	const PolyCost &	cost,
		const PolyDynamics &	dynamics )

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

◆ ~StageModelTpl()

template<typename _Scalar>

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

virtualdefault

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

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

◆ getCost() [1/2]

template<typename _Scalar>

template<typename U>

U * aligator::StageModelTpl< _Scalar >::getCost ( )

inline

Get a pointer to an expected concrete type for the cost function.

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

◆ getCost() [2/2]

template<typename _Scalar>

template<typename U>

const U * aligator::StageModelTpl< _Scalar >::getCost ( ) const

inline

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

◆ getDynamics() [1/2]

template<typename _Scalar>

template<typename U>

U * aligator::StageModelTpl< _Scalar >::getDynamics ( )

inline

Get a pointer to an expected concrete type for the dynamics class.

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

◆ getDynamics() [2/2]

template<typename _Scalar>

template<typename U>

const U * aligator::StageModelTpl< _Scalar >::getDynamics ( ) const

inline

Definition at line 75 of file stage-model.hpp.

◆ xspace()

template<typename _Scalar>

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

inline

Definition at line 85 of file stage-model.hpp.

◆ uspace()

template<typename _Scalar>

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

inline

Definition at line 86 of file stage-model.hpp.

◆ xspace_next()

template<typename _Scalar>

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

inline

Definition at line 87 of file stage-model.hpp.

◆ cost()

template<typename _Scalar>

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

inline

Definition at line 89 of file stage-model.hpp.

◆ hasDynModel()

template<typename _Scalar>

virtual bool aligator::StageModelTpl< _Scalar >::hasDynModel ( ) 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 93 of file stage-model.hpp.

◆ nx1()

template<typename _Scalar>

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

inline

Definition at line 95 of file stage-model.hpp.

◆ ndx1()

template<typename _Scalar>

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

inline

Definition at line 96 of file stage-model.hpp.

◆ nu()

template<typename _Scalar>

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

inline

Definition at line 97 of file stage-model.hpp.

◆ nx2()

template<typename _Scalar>

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

inline

Definition at line 98 of file stage-model.hpp.

◆ ndx2()

template<typename _Scalar>

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

inline

Definition at line 99 of file stage-model.hpp.

◆ nc()

template<typename _Scalar>

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

inline

Total number of constraints.

Definition at line 101 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 104 of file stage-model.hpp.

◆ numPrimal()

template<typename _Scalar>

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

inline

Number of primal optimization variables.

Definition at line 107 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 109 of file stage-model.hpp.

◆ addConstraint() [1/3]

template<typename _Scalar>

template<typename Cstr, typename = std::enable_if_t<std::is_same_v< std::decay_t<Cstr>, StageConstraint>>>

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

Add a constraint to the stage.

◆ addConstraint() [2/3]

template<typename _Scalar>

void aligator::StageModelTpl< _Scalar >::addConstraint	(	const PolyFunction &	func,
		const PolyConstraintSet &	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 >.

◆ addConstraint() [3/3]

template<typename _Scalar>

template<typename Cstr, typename>

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

Definition at line 166 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 142 of file stage-model.hpp.

Member Data Documentation

◆ xspace_

template<typename _Scalar>

PolyManifold aligator::StageModelTpl< _Scalar >::xspace_

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

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

◆ xspace_next_

template<typename _Scalar>

PolyManifold aligator::StageModelTpl< _Scalar >::xspace_next_

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

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

◆ uspace_

template<typename _Scalar>

PolyManifold aligator::StageModelTpl< _Scalar >::uspace_

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

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

◆ constraints_

template<typename _Scalar>

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

Constraint manager.

Definition at line 50 of file stage-model.hpp.

◆ cost_

template<typename _Scalar>

PolyCost aligator::StageModelTpl< _Scalar >::cost_

Stage cost function.

Definition at line 52 of file stage-model.hpp.

◆ dynamics_

template<typename _Scalar>

PolyDynamics aligator::StageModelTpl< _Scalar >::dynamics_

Dynamics model.

Definition at line 54 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

Friends

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Manifold

◆ PolyManifold

◆ Dynamics

◆ PolyDynamics

◆ PolyFunction

◆ PolyConstraintSet

◆ Cost

◆ PolyCost

◆ StageConstraint

◆ Data

Constructor & Destructor Documentation

◆ StageModelTpl()

◆ ~StageModelTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ getCost() [1/2]

◆ getCost() [2/2]

◆ getDynamics() [1/2]

◆ getDynamics() [2/2]

◆ xspace()

◆ uspace()

◆ xspace_next()

◆ cost()

◆ hasDynModel()

◆ nx1()

◆ ndx1()

◆ nu()

◆ nx2()

◆ ndx2()

◆ nc()

◆ numConstraints()

◆ numPrimal()

◆ numDual()

◆ addConstraint() [1/3]

◆ addConstraint() [2/3]

◆ evaluate()

◆ computeFirstOrderDerivatives()

◆ computeSecondOrderDerivatives()

◆ createData()

◆ addConstraint() [3/3]

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ xspace_

◆ xspace_next_

◆ uspace_

◆ constraints_

◆ cost_

◆ dynamics_