aligator  0.9.0
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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Public Types | Public Member Functions | List of all members
aligator::UnaryFunctionTpl< Scalar > Struct Template Referenceabstract

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 >:
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Collaboration diagram for aligator::UnaryFunctionTpl< Scalar >:
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Public Types

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

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 &, Data &data) const override
 
void computeJacobians (const ConstVectorRef &x, const ConstVectorRef &, Data &data) const override
 
void computeVectorHessianProducts (const ConstVectorRef &x, const ConstVectorRef &, const ConstVectorRef &lbda, Data &data) const override
 
- Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
 ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
 
 StageFunctionTpl (const int ndx, const int nu, const int nr)
 
virtual void evaluate (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
 Evaluate the function.
 
virtual void computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, Data &data) const=0
 Compute Jacobians of this function.
 
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.
 

Additional Inherited Members

- Public Attributes inherited from aligator::StageFunctionTpl< _Scalar >
const int ndx1
 Current state dimension.
 
const int nu
 Control 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 59 of file fwd.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::AngularMomentumResidualTpl< _Scalar >, aligator::CenterOfMassTranslationResidualTpl< _Scalar >, aligator::CenterOfMassVelocityResidualTpl< _Scalar >, aligator::CentroidalCoMResidualTpl< _Scalar >, aligator::CentroidalWrapperResidualTpl< _Scalar >, aligator::DCMPositionResidualTpl< _Scalar >, aligator::FrameTranslationResidualTpl< _Scalar >, aligator::FrameVelocityResidualTpl< _Scalar >, aligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >, aligator::LinearMomentumResidualTpl< _Scalar >, and aligator::python::PyUnaryFunction< UFunction >.

◆ computeJacobians() [1/2]

template<typename Scalar >
virtual void aligator::UnaryFunctionTpl< Scalar >::computeJacobians ( const ConstVectorRef & x,
Data & data ) const
pure virtual

Implemented in aligator::AngularMomentumResidualTpl< _Scalar >, aligator::CenterOfMassTranslationResidualTpl< _Scalar >, aligator::CenterOfMassVelocityResidualTpl< _Scalar >, aligator::CentroidalCoMResidualTpl< _Scalar >, aligator::CentroidalWrapperResidualTpl< _Scalar >, aligator::DCMPositionResidualTpl< _Scalar >, aligator::FrameTranslationResidualTpl< _Scalar >, aligator::FrameVelocityResidualTpl< _Scalar >, aligator::FunctionSliceXprTpl< Scalar, UnaryFunctionTpl< Scalar > >, aligator::LinearMomentumResidualTpl< _Scalar >, and aligator::python::PyUnaryFunction< UFunction >.

◆ 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 > >, and aligator::python::PyUnaryFunction< UFunction >.

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 & ,
Data & data ) const
inlineoverride

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 & ,
Data & data ) const
inlineoverride

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 & ,
const ConstVectorRef & lbda,
Data & data ) const
inlineoverride

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

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