aligator::autodiff::CostFiniteDifferenceHelper< Scalar > Struct Template Reference

#include <aligator/modelling/autodiff/cost-finite-difference.hpp>

Inheritance diagram for aligator::autodiff::CostFiniteDifferenceHelper< Scalar >:

Collaboration diagram for aligator::autodiff::CostFiniteDifferenceHelper< Scalar >:

Classes
struct	Data

Public Types
using	Manifold = ManifoldAbstractTpl<Scalar>
using	CostBase = CostAbstractTpl<Scalar>
using	CostData = CostDataAbstractTpl<Scalar>
Public Types inherited from aligator::CostAbstractTpl< Scalar >
using	Scalar = _Scalar
using	CostData = CostDataAbstractTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	CostFiniteDifferenceHelper (xyz::polymorphic< 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 \((\ell_{ij})_{i,j \in \{x,u\}}\).
auto	createData () const -> shared_ptr< CostData > override
Public Member Functions inherited from aligator::CostAbstractTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
int	nx () const
int	ndx () const
template<class U >
	CostAbstractTpl (U &&space, const int nu)
virtual	~CostAbstractTpl ()=default

Public Attributes
xyz::polymorphic< CostBase >	cost_
Scalar	fd_eps
xyz::polymorphic< Manifold >	space
	State dimension.
Public Attributes inherited from aligator::CostAbstractTpl< Scalar >
xyz::polymorphic< Manifold >	space
	State dimension.
int	nu
	Control dimension.

Detailed Description

template<typename Scalar>
struct aligator::autodiff::CostFiniteDifferenceHelper< Scalar >

Definition at line 9 of file cost-finite-difference.hpp.

Member Typedef Documentation

Manifold

template<typename Scalar >

using aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 10 of file cost-finite-difference.hpp.

CostBase

template<typename Scalar >

using aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::CostBase = CostAbstractTpl<Scalar>

Definition at line 11 of file cost-finite-difference.hpp.

CostData

template<typename Scalar >

using aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::CostData = CostDataAbstractTpl<Scalar>

Definition at line 12 of file cost-finite-difference.hpp.

Constructor & Destructor Documentation

CostFiniteDifferenceHelper()

template<typename Scalar >

aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::CostFiniteDifferenceHelper	(	xyz::polymorphic< CostBase >	cost,
		const Scalar	fd_eps )

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

Scalar

)

evaluate()

template<typename Scalar >

void aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

overridevirtual

Evaluate the cost function.

Reimplemented from aligator::CostAbstractTpl< Scalar >.

computeGradients()

template<typename Scalar >

void aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::computeGradients ( const ConstVectorRef & x, const ConstVectorRef & u, CostData & data ) const

overridevirtual

Compute the cost gradients \((\ell_x, \ell_u)\).

Reimplemented from aligator::CostAbstractTpl< Scalar >.

computeHessians()

template<typename Scalar >

void aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::computeHessians ( const ConstVectorRef & , const ConstVectorRef & , CostData &  ) const

inlineoverridevirtual

Compute the cost Hessians \((\ell_{ij})_{i,j \in \{x,u\}}\).

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Definition at line 30 of file cost-finite-difference.hpp.

createData()

template<typename Scalar >

auto aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::createData ( ) const -> shared_ptr< CostData >

overridevirtual

Reimplemented from aligator::CostAbstractTpl< Scalar >.

Member Data Documentation

cost_

template<typename Scalar >

xyz::polymorphic<CostBase> aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::cost_

Definition at line 35 of file cost-finite-difference.hpp.

fd_eps

template<typename Scalar >

Scalar aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::fd_eps

Definition at line 36 of file cost-finite-difference.hpp.

space

template<typename Scalar >

xyz::polymorphic<Manifold> aligator::CostAbstractTpl< Scalar >::space

State dimension.

Definition at line 20 of file cost-abstract.hpp.

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

• include/aligator/modelling/autodiff/cost-finite-difference.hpp