aligator::StateErrorResidualTpl< Scalar > Struct Template Reference

State error \(x \ominus x_\text{ref}\). More...

#include <aligator/modelling/state-error.hpp>

Inheritance diagram for aligator::StateErrorResidualTpl< Scalar >:

Collaboration diagram for aligator::StateErrorResidualTpl< Scalar >:

Public Types
using	Base = detail::StateOrControlErrorResidual<Scalar, 0>
Public Types inherited from aligator::detail::StateOrControlErrorResidual< Scalar, 0 >
using	Scalar
using	Base
using	Data
using	Manifold
using	VectorSpace
Public Types inherited from aligator::StageFunctionTpl< Scalar >
using	Scalar
using	Data
using	Scalar
using	Data

Additional Inherited Members
Public Member Functions inherited from aligator::detail::StateOrControlErrorResidual< Scalar, 0 >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StateOrControlErrorResidual (const int ndx, U &&uspace, const ConstVectorRef &target)
	Constructor using the state space dimension, control manifold and control target.
	StateOrControlErrorResidual (const int ndx, const xyz::polymorphic< Manifold > &uspace, const ConstVectorRef &target)
	StateOrControlErrorResidual (const int ndx, const int nu)
	StateOrControlErrorResidual (const int ndx, const ConstVectorRef &target)
	Constructor using state space and control space dimensions, the control space is assumed to be Euclidean.
void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Compute Jacobians of this function.
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StateOrControlErrorResidual (const int ndx, U &&uspace, const ConstVectorRef &target)
	Constructor using the state space dimension, control manifold and control target.
	StateOrControlErrorResidual (const int ndx, const xyz::polymorphic< Manifold > &uspace, const ConstVectorRef &target)
	StateOrControlErrorResidual (const int ndx, const int nu)
	StateOrControlErrorResidual (const int ndx, const ConstVectorRef &target)
	Constructor using state space and control space dimensions, the control space is assumed to be Euclidean.
void	evaluate (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &, const ConstVectorRef &u, Data &data) const override
	Compute Jacobians of this function.
Public Member Functions inherited from aligator::StageFunctionTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, 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.
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
virtual void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &u, 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 inherited from aligator::detail::StateOrControlErrorResidual< Scalar, 0 >
xyz::polymorphic< Manifold >	space_
VectorXs	target_
xyz::polymorphic< Manifold >	space_
VectorXs	target_
Public Attributes inherited from aligator::StageFunctionTpl< Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	nr
	Function codimension.
Protected Member Functions inherited from aligator::detail::StateOrControlErrorResidual< Scalar, 0 >
void	validate () const
void	validate () const

Detailed Description

template<typename Scalar>
struct aligator::StateErrorResidualTpl< Scalar >

State error \(x \ominus x_\text{ref}\).

This can be used, by using the manifold neutral element as the reference, to define constraints on the state (e.g. joint position or velocity limits).

Definition at line 152 of file state-error.hpp.

Member Typedef Documentation

Base

template<typename Scalar>

using aligator::StateErrorResidualTpl< Scalar >::Base = detail::StateOrControlErrorResidual<Scalar, 0>

Definition at line 153 of file state-error.hpp.

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

• include/aligator/modelling/state-error.hpp