aligator::TrajOptDataTpl< Scalar > Struct Template Reference

Problem data struct. More...

#include <aligator/core/traj-opt-data.hpp>

Collaboration diagram for aligator::TrajOptDataTpl< Scalar >:

Public Types
using	Scalar = _Scalar
using	StageFunctionData = StageFunctionDataTpl<Scalar>
using	StageData = StageDataTpl<Scalar>
using	CostData = CostDataAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
std::size_t	numSteps () const
	TrajOptDataTpl ()=default
	TrajOptDataTpl (const TrajOptProblemTpl< Scalar > &problem)

Public Attributes
Scalar	cost_ = 0.
	Current cost in the TO problem.
shared_ptr< StageFunctionData >	init_data
	Data for the initial condition.
std::vector< shared_ptr< StageData > >	stage_data
	Data structs for each stage of the problem.
shared_ptr< CostData >	term_cost_data
	Terminal cost data.
std::vector< shared_ptr< StageFunctionData > >	term_cstr_data
	Terminal constraint data.

Detailed Description

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

Problem data struct.

Definition at line 107 of file fwd.hpp.

Member Typedef Documentation

Scalar

template<typename Scalar >

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

Definition at line 11 of file traj-opt-data.hpp.

StageFunctionData

template<typename Scalar >

using aligator::TrajOptDataTpl< Scalar >::StageFunctionData = StageFunctionDataTpl<Scalar>

Definition at line 13 of file traj-opt-data.hpp.

StageData

template<typename Scalar >

using aligator::TrajOptDataTpl< Scalar >::StageData = StageDataTpl<Scalar>

Definition at line 14 of file traj-opt-data.hpp.

CostData

template<typename Scalar >

using aligator::TrajOptDataTpl< Scalar >::CostData = CostDataAbstractTpl<Scalar>

Definition at line 15 of file traj-opt-data.hpp.

Constructor & Destructor Documentation

TrajOptDataTpl() [1/2]

template<typename Scalar >

aligator::TrajOptDataTpl< Scalar >::TrajOptDataTpl ( )

default

TrajOptDataTpl() [2/2]

template<typename Scalar >

aligator::TrajOptDataTpl< Scalar >::TrajOptDataTpl

(

const TrajOptProblemTpl< Scalar > &

problem

)

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::TrajOptDataTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

numSteps()

template<typename Scalar >

std::size_t aligator::TrajOptDataTpl< Scalar >::numSteps ( ) const

inline

Definition at line 29 of file traj-opt-data.hpp.

Member Data Documentation

cost_

template<typename Scalar >

Scalar aligator::TrajOptDataTpl< Scalar >::cost_ = 0.

Current cost in the TO problem.

Definition at line 18 of file traj-opt-data.hpp.

init_data

template<typename Scalar >

shared_ptr<StageFunctionData> aligator::TrajOptDataTpl< Scalar >::init_data

Data for the initial condition.

Definition at line 21 of file traj-opt-data.hpp.

stage_data

template<typename Scalar >

std::vector<shared_ptr<StageData> > aligator::TrajOptDataTpl< Scalar >::stage_data

Data structs for each stage of the problem.

Definition at line 23 of file traj-opt-data.hpp.

term_cost_data

template<typename Scalar >

shared_ptr<CostData> aligator::TrajOptDataTpl< Scalar >::term_cost_data

Terminal cost data.

Definition at line 25 of file traj-opt-data.hpp.

term_cstr_data

template<typename Scalar >

std::vector<shared_ptr<StageFunctionData> > aligator::TrajOptDataTpl< Scalar >::term_cstr_data

Terminal constraint data.

Definition at line 27 of file traj-opt-data.hpp.

---

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

• include/aligator/core/traj-opt-data.hpp
• include/aligator/fwd.hpp