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	ConstraintType = StageConstraintTpl<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 10 of file traj-opt-data.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.

ConstraintType

template<typename _Scalar >

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

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

StageData

template<typename _Scalar >

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

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

CostData

template<typename _Scalar >

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

Definition at line 16 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 30 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 19 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 22 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 24 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 26 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 28 of file traj-opt-data.hpp.

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

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