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

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

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

Public Types
using	Manifold

using	CostBase

using	CostData

Public Types inherited from aligator::CostAbstractTpl< Scalar >
using	Scalar

using	CostData

using	Manifold

using	Scalar

using	CostData

using	Manifold

using	Scalar

using	CostData

using	Manifold

using	Scalar

using	CostData

using	Manifold

Public Types inherited from aligator::CostDataAbstractTpl< Scalar >
using	Scalar

using	Scalar

Public Member Functions
	Data (CostFiniteDifferenceHelper const &obj)

	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

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	nx () const

int	ndx () const

	CostAbstractTpl (U &&space, const int nu)

virtual	~CostAbstractTpl ()=default

Public Member Functions inherited from aligator::CostDataAbstractTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	CostDataAbstractTpl (const int ndx, const int nu)

	CostDataAbstractTpl (const CostAbstractTpl< Scalar > &cost)

virtual	~CostDataAbstractTpl ()=default

	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	CostDataAbstractTpl (const int ndx, const int nu)

	CostDataAbstractTpl (const CostAbstractTpl< Scalar > &cost)

virtual	~CostDataAbstractTpl ()=default

Public Attributes
shared_ptr< CostData >	c1

shared_ptr< CostData >	c2

VectorXs	dx

VectorXs	du

VectorXs	xp

VectorXs	up

xyz::polymorphic< Manifold >	space
	State dimension.

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.

xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

xyz::polymorphic< Manifold >	space
	State dimension.

int	nu
	Control dimension.

Public Attributes inherited from aligator::CostDataAbstractTpl< Scalar >
int	ndx_

int	nu_

Scalar	value_

VectorXs	grad_

MatrixXs	hess_

VectorRef	Lx_
	Gradient \(\ell_x\).

VectorRef	Lu_
	Gradient \(\ell_u\).

MatrixRef	Lxx_
	Hessian \(\ell_{xx}\).

MatrixRef	Lxu_
	Hessian \(\ell_{xu}\).

MatrixRef	Lux_
	Hessian \(\ell_{ux}\).

MatrixRef	Luu_
	Hessian \(\ell_{uu}\).

int	ndx_

int	nu_

Scalar	value_

VectorXs	grad_

MatrixXs	hess_

VectorRef	Lx_
	Gradient \(\ell_x\).

VectorRef	Lu_
	Gradient \(\ell_u\).

MatrixRef	Lxx_
	Hessian \(\ell_{xx}\).

MatrixRef	Lxu_
	Hessian \(\ell_{xu}\).

MatrixRef	Lux_
	Hessian \(\ell_{ux}\).

MatrixRef	Luu_
	Hessian \(\ell_{uu}\).

Detailed Description

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

Definition at line 40 of file cost-finite-difference.hpp.

Member Typedef Documentation

◆ Manifold

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

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

◆ CostBase

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

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

◆ CostData

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

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

Constructor & Destructor Documentation

◆ Data()

template<typename Scalar>

aligator::autodiff::CostFiniteDifferenceHelper< Scalar >::Data::Data ( CostFiniteDifferenceHelper const & obj )

inline

Definition at line 46 of file cost-finite-difference.hpp.

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

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

◆ CostFiniteDifferenceHelper()

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

◆ evaluate()

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()

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