aligator
0.6.1
A primal-dual augmented Lagrangian-type solver for nonlinear trajectory optimization.
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#include <aligator/modelling/autodiff/finite-difference.hpp>
Classes | |
struct | Data |
Public Types | |
using | Manifold = ManifoldAbstractTpl<Scalar> |
using | CostBase = CostAbstractTpl<Scalar> |
using | CostData = CostDataAbstractTpl<Scalar> |
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using | Scalar |
using | CostData |
using | Manifold |
Public Member Functions | |
ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
CostFiniteDifferenceHelper (shared_ptr< CostBase > cost, const Scalar fd_eps) | |
void | evaluate (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const override |
Evaluate the cost function. | |
void | computeGradients (const ConstVectorRef &x, const ConstVectorRef &u, CostData &data_) const override |
Compute the cost gradients \((\ell_x, \ell_u)\). | |
void | computeHessians (const ConstVectorRef &, const ConstVectorRef &, CostData &) const override |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\). | |
shared_ptr< CostData > | createData () const override |
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ALIGATOR_DYNAMIC_TYPEDEFS (Scalar) | |
int | nx () const |
int | ndx () const |
CostAbstractTpl (shared_ptr< Manifold > space, const int nu) | |
virtual | ~CostAbstractTpl ()=default |
Public Attributes | |
shared_ptr< CostBase > | cost_ |
Scalar | fd_eps |
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shared_ptr< Manifold > | space |
State dimension. | |
int | nu |
Control dimension. | |
Definition at line 162 of file finite-difference.hpp.
using aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 163 of file finite-difference.hpp.
using aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::CostBase = CostAbstractTpl<Scalar> |
Definition at line 164 of file finite-difference.hpp.
using aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::CostData = CostDataAbstractTpl<Scalar> |
Definition at line 165 of file finite-difference.hpp.
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inline |
Definition at line 184 of file finite-difference.hpp.
aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS | ( | Scalar | ) |
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inlineoverridevirtual |
Evaluate the cost function.
Implements aligator::CostAbstractTpl< Scalar >.
Definition at line 188 of file finite-difference.hpp.
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inlineoverridevirtual |
Compute the cost gradients \((\ell_x, \ell_u)\).
Implements aligator::CostAbstractTpl< Scalar >.
Definition at line 196 of file finite-difference.hpp.
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inlineoverridevirtual |
Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).
Implements aligator::CostAbstractTpl< Scalar >.
Definition at line 225 of file finite-difference.hpp.
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inlineoverridevirtual |
Reimplemented from aligator::CostAbstractTpl< Scalar >.
Definition at line 228 of file finite-difference.hpp.
shared_ptr<CostBase> aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::cost_ |
Definition at line 232 of file finite-difference.hpp.
Scalar aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::fd_eps |
Definition at line 233 of file finite-difference.hpp.