aligator::autodiff::FiniteDifferenceHelper< _Scalar > Struct Template Reference

Approximate the derivatives of a given function using finite differences, to downcast the function to a StageFunctionTpl. More...

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

Inheritance diagram for aligator::autodiff::FiniteDifferenceHelper< _Scalar >:

Collaboration diagram for aligator::autodiff::FiniteDifferenceHelper< _Scalar >:

Public Types
using	Scalar = _Scalar
using	Impl = internal::finite_difference_impl<Scalar, StageFunctionTpl>
using	StageFunction = StageFunctionTpl<Scalar>
using	Manifold = ManifoldAbstractTpl<Scalar>
using	Data = typename Impl::Data
using	BaseData = StageFunctionDataTpl<Scalar>
Public Types inherited from aligator::StageFunctionTpl< _Scalar >
using	Scalar = _Scalar
using	Data = StageFunctionDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (_Scalar)
	FiniteDifferenceHelper (xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > func, const Scalar fd_eps)
void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the function.
void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Compute Jacobians of this function.
shared_ptr< BaseData >	createData () const
	Instantiate a Data object.
Public Member Functions inherited from aligator::StageFunctionTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)
	StageFunctionTpl (const int ndx, const int nu, const int nr)
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

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::autodiff::FiniteDifferenceHelper< _Scalar >

Approximate the derivatives of a given function using finite differences, to downcast the function to a StageFunctionTpl.

Definition at line 206 of file finite-difference.hpp.

Member Typedef Documentation

Scalar

template<typename _Scalar>

using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Scalar = _Scalar

Definition at line 207 of file finite-difference.hpp.

Impl

template<typename _Scalar>

using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Impl = internal::finite_difference_impl<Scalar, StageFunctionTpl>

Definition at line 208 of file finite-difference.hpp.

StageFunction

template<typename _Scalar>

using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::StageFunction = StageFunctionTpl<Scalar>

Definition at line 210 of file finite-difference.hpp.

Manifold

template<typename _Scalar>

using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 211 of file finite-difference.hpp.

Data

template<typename _Scalar>

using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Data = typename Impl::Data

Definition at line 212 of file finite-difference.hpp.

BaseData

template<typename _Scalar>

using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::BaseData = StageFunctionDataTpl<Scalar>

Definition at line 213 of file finite-difference.hpp.

Constructor & Destructor Documentation

FiniteDifferenceHelper()

template<typename _Scalar>

aligator::autodiff::FiniteDifferenceHelper< _Scalar >::FiniteDifferenceHelper ( xyz::polymorphic< Manifold > space, xyz::polymorphic< StageFunction > func, const Scalar fd_eps )

inline

Definition at line 217 of file finite-difference.hpp.

Member Function Documentation

ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar>

aligator::autodiff::FiniteDifferenceHelper< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS

(

_Scalar

)

evaluate()

template<typename _Scalar>

void aligator::autodiff::FiniteDifferenceHelper< _Scalar >::evaluate ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

inlinevirtual

Evaluate the function.

Parameters

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

Implements aligator::StageFunctionTpl< _Scalar >.

Definition at line 223 of file finite-difference.hpp.

computeJacobians()

template<typename _Scalar>

void aligator::autodiff::FiniteDifferenceHelper< _Scalar >::computeJacobians ( const ConstVectorRef & x, const ConstVectorRef & u, BaseData & data ) const

inlinevirtual

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 228 of file finite-difference.hpp.

createData()

template<typename _Scalar>

shared_ptr< BaseData > aligator::autodiff::FiniteDifferenceHelper< _Scalar >::createData ( ) const

inlinevirtual

Instantiate a Data object.

Reimplemented from aligator::StageFunctionTpl< _Scalar >.

Definition at line 233 of file finite-difference.hpp.

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

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