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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 |
| using | Data |
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 |
| void | computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const |
| 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 | 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 |
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 >
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 189 of file finite-difference.hpp.
Member Typedef Documentation
◆ Scalar
template<typename _Scalar >
| using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Scalar = _Scalar |
Definition at line 190 of file finite-difference.hpp.
◆ Impl
template<typename _Scalar >
| using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Impl = internal::finite_difference_impl<Scalar, StageFunctionTpl> |
Definition at line 191 of file finite-difference.hpp.
◆ StageFunction
template<typename _Scalar >
| using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::StageFunction = StageFunctionTpl<Scalar> |
Definition at line 193 of file finite-difference.hpp.
◆ Manifold
template<typename _Scalar >
| using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Manifold = ManifoldAbstractTpl<Scalar> |
Definition at line 194 of file finite-difference.hpp.
◆ Data
template<typename _Scalar >
| using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::Data = typename Impl::Data |
Definition at line 195 of file finite-difference.hpp.
◆ BaseData
template<typename _Scalar >
| using aligator::autodiff::FiniteDifferenceHelper< _Scalar >::BaseData = StageFunctionDataTpl<Scalar> |
Definition at line 196 of file finite-difference.hpp.
Constructor & Destructor Documentation
◆ FiniteDifferenceHelper()
template<typename _Scalar >
|
inline |
Definition at line 200 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 >
|
inline |
Definition at line 206 of file finite-difference.hpp.
◆ computeJacobians()
template<typename _Scalar >
|
inline |
Definition at line 211 of file finite-difference.hpp.
◆ createData()
template<typename _Scalar >
|
inlinevirtual |
Instantiate a Data object.
Reimplemented from aligator::StageFunctionTpl< _Scalar >.
Definition at line 216 of file finite-difference.hpp.
The documentation for this struct was generated from the following file:
- include/aligator/modelling/autodiff/finite-difference.hpp
