aligator::UnaryFunctionTpl< _Scalar > Struct Template Reference

Represents unary functions of the form \(f(x)\), with no control (or next-state) arguments. More...

#include <aligator/core/unary-function.hpp>

Inheritance diagram for aligator::UnaryFunctionTpl< _Scalar >:

Collaboration diagram for aligator::UnaryFunctionTpl< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Base = StageFunctionTpl<Scalar>
using	Data = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
virtual void	evaluate (const ConstVectorRef &x, Data &data) const =0
virtual void	computeJacobians (const ConstVectorRef &x, Data &data) const =0
virtual void	computeVectorHessianProducts (const ConstVectorRef &, const ConstVectorRef &, Data &) const
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, Data &data) const override
	Compute Jacobians of this function.
void	computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override
	Compute the vector-hessian products of this function.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx1, const int nu, const int ndx2, const int nr)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
	Constructor where ndx2 = ndx1.
virtual	~StageFunctionTpl ()=default
virtual shared_ptr< Data >	createData () const
	Instantiate a Data object.

Additional Inherited Members
Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int	ndx1
	Current state dimension.
const int	nu
	Control dimension.
const int	ndx2
	Next state dimension.
const int	nr
	Function codimension.

Detailed Description

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

Represents unary functions of the form \(f(x)\), with no control (or next-state) arguments.

Definition at line 12 of file unary-function.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar >

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

Definition at line 13 of file unary-function.hpp.

Base

template<typename _Scalar >

using aligator::UnaryFunctionTpl< _Scalar >::Base = StageFunctionTpl<Scalar>

Definition at line 15 of file unary-function.hpp.

Data

template<typename _Scalar >

using aligator::UnaryFunctionTpl< _Scalar >::Data = StageFunctionDataTpl<Scalar>

Definition at line 16 of file unary-function.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::UnaryFunctionTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate() [1/2]

template<typename _Scalar >

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

pure virtual

Implemented in aligator::LinearUnaryFunctionCompositionTpl< _Scalar >, aligator::FlyHighResidualTpl< _Scalar >, aligator::FramePlacementResidualTpl< _Scalar >, aligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >, and aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >.

computeJacobians() [1/2]

template<typename _Scalar >

virtual void aligator::UnaryFunctionTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, Data & data ) const

pure virtual

Implemented in aligator::LinearUnaryFunctionCompositionTpl< _Scalar >, aligator::FlyHighResidualTpl< _Scalar >, aligator::FramePlacementResidualTpl< _Scalar >, aligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >, and aligator::detail::StateOrControlErrorResidual< _Scalar, 0 >.

computeVectorHessianProducts() [1/2]

template<typename _Scalar >

virtual void aligator::UnaryFunctionTpl< _Scalar >::computeVectorHessianProducts ( const ConstVectorRef & , const ConstVectorRef & , Data &  ) const

inlinevirtual

Reimplemented in aligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >.

Definition at line 22 of file unary-function.hpp.

evaluate() [2/2]

template<typename _Scalar >

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

inlineoverridevirtual

Evaluate the function.

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 26 of file unary-function.hpp.

computeJacobians() [2/2]

template<typename _Scalar >

void aligator::UnaryFunctionTpl< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, Data & data ) const

inlineoverridevirtual

Compute Jacobians of this function.

This computes the Jacobians \( (\frac{\partial f}{\partial x}, \frac{\partial f}{\partial u}, \frac{\partial f}{\partial x'}) \)

Parameters

x	Current state.
u	Controls.
y	Next state.
data	Data holding struct.

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 31 of file unary-function.hpp.

computeVectorHessianProducts() [2/2]

template<typename _Scalar >

void aligator::UnaryFunctionTpl< _Scalar >::computeVectorHessianProducts ( const ConstVectorRef & x, const ConstVectorRef & u, const ConstVectorRef & y, const ConstVectorRef & lbda, Data & data ) const

inlineoverridevirtual

Compute the vector-hessian products of this function.

Parameters

x	Current state.
u	Controls.
y	Next state.
lbda	Multiplier estimate.
data	Data holding struct.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 36 of file unary-function.hpp.

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

• include/aligator/core/unary-function.hpp